Abstract
The object of this study is to develop a self-tuning fractional order proportional-integral-derivative (SFOPID) controller for controlling the mover position of a direct drive linear voice coil motor (VCM) accurately under different operational conditions. The fractional order proportional-integral-derivative (FOPID) controller can improve the control performances of the conventional integer order PID controller with respect to the additional fractional differential and integral orders; however, choosing five interdependent control parameters including proportional, integral, and derivative gains, as well as fractional differential and integral orders appropriately is arduous in practical applications. In this regard, the SFOPID controller is proposed in which the five control parameters are optimized dynamically and concurrently according to an adaptive differential evolution algorithm with a high efficiency adaptive selection mechanism. Experimental results reveal that the SFOPID controller outperforms PID and FOPID controllers with regard to the nonlinear VCM control system under both nominal and payload conditions.
Highlights
The linear voice coil motor (VCM) is a direct drive and hysteresis-free device used for providing highly accurate linear motion
The object of this study is to develop a new self-tuning fractional order proportional-integral-derivative (FOPID) (SFOPID) control strategy for controlling the mover position of a direct drive VCM precisely
The rest of this study is organized as follows: the operational principle and dynamics of the linear VCM are described in Section 2; the adaptive DE (ADE) algorithm used for optimizing the control parameters is presented in Section 3; the developed FOPID control and self-tuning fractional order proportionalintegral-derivative (SFOPID) control on the basis of fractional calculus are given in Section 4, and the experimental results and conclusion are given in Sections 5 and 6, respectively
Summary
The linear voice coil motor (VCM) is a direct drive and hysteresis-free device used for providing highly accurate linear motion. It is difficult to obtain satisfactory control performances in highly nonlinear and time-varying systems for the conventional PID controller due to its linear structure, constant control gains and limited degrees of freedom To address this drawback, the integer order PID controller has been generalized to a fractional order PID (FOPID) controller by the addition of fractional integral and derivative orders [15,16,17,18,19]. To effectively solve a specific optimization problem, a time-consuming trial-and-error search procedure for choosing the best parameter values is always required To address this problem, many variants of DE have been developed to improve the adaptiveness, efficiency, and performance of the conventional DE [30,31,32,33]. The rest of this study is organized as follows: the operational principle and dynamics of the linear VCM are described in Section 2; the ADE algorithm used for optimizing the control parameters is presented in Section 3; the developed FOPID control and SFOPID control on the basis of fractional calculus are given in Section 4, and the experimental results and conclusion are given in Sections 5 and 6, respectively
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