Abstract
Fractional calculus has been used intensely in recent years in control engineering to extend the capabilities of the classical proportional–integral–derivative (PID) controller, but most tuning techniques are based on the model of the process. The paper presents an experimental tuning procedure for fractional-order proportional integral–proportional derivative (PI/PD) and PID-type controllers that eliminates the need of a mathematical model for the process. The tuning procedure consists in recreating the Bode magnitude plot using experimental tests and imposing the desired shape of the closed loop system magnitude. The proposed method is validated in the field of active vibration suppression by using an experimental set-up consisting of a smart beam.
Highlights
When subjected to the task of improving the performance of a physical process, classical control theory tackles the issue using two steps: mathematically modeling the dynamics of the process and tuning a suitable controller for the identified model.Several alternatives have been developed for controller tuning based on information gained from the experimental response of the process
It is important to emphasize that the efficiency of the obtained fractional-order controller lies in a stable, robust, closed-loop system that reduces the effect of the vibration on the process
The oscillation amplitude is reduced by 75% with the fractional-order proportional derivative (PD) and by 80% with the fractional-order PID controller
Summary
When subjected to the task of improving the performance of a physical process, classical control theory tackles the issue using two steps: mathematically modeling the dynamics of the process and tuning a suitable controller for the identified model. One of the popular methods for tuning fractional-order controllers is by imposing frequency domain constraints such as the gain crossover frequency, phase margin, sensitivity, and complementary sensitivity [11]. From the obtained information regarding the output amplitude, phase and the derivative slope, a fractional-order PD controller is determined. The tuning of the fractional-order controller is based on an optimization routine that considers the frequency response magnitude values obtained experimentally. From an engineer’s point of view, the presented fractional-order controller tuning procedure consists of two steps: The first one implies performing several experiments on the vibration platform, reading the vibration amplitude and experimental approximation of the resonant peak. The novelty of the presented study is asserted in determining optimal fractional-order controller parameters based solely on the experimental response of the process. The obtained controllers are validated by analyzing disturbance rejection capabilities
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.