Order Proportional Derivative Controller Research Articles

A Novel Fractional Order Proportional Integral-Fractional Order Proportional Derivative Controller Design Based on Symbiotic Organisms Search Algorithm for Speed Control of a Direct Current Motor

A Novel Fractional Order Proportional Integral-Fractional Order Proportional Derivative Controller Design Based on Symbiotic Organisms Search Algorithm for Speed Control of a Direct Current Motor

A Novel Fractional Order Proportional Integral-Fractional Order Proportional Derivative Controller Design Based on Symbiotic Organisms Search Algorithm for Speed Control of a Direct Current Motor

A Novel Fractional Order Proportional Integral-Fractional Order Proportional Derivative Controller Design Based on Symbiotic Organisms Search Algorithm for Speed Control of a Direct Current Motor

Pitch angle control of wind turbines using model-free auto-tuned fractional order proportional derivative ATFOPD controller

The nonlinear dynamics of wind power plants, in addition to uncertainties such as unknown nonlinear disturbances and parameter variations make the design of a robust controller a difficult task. This paper proposes a robust fractional-order controller for the pitch angle control of a variable-speed wind turbine system. An auto-tuned fractional order proportional-derivative controller ATFOPD is designed taking the objectives of reducing pitch actuator fatigue, limiting output mechanical power and speed at their rated values above the rated wind speed. The phase, phase slope and modulus of the pitch actuator process at the fixed gain crossover frequency are needed in order to tune the fractional order controller parameters. These values are usually derived using a mathematical model of the system, such as a transfer function. A model-free auto-tuning technique that can calculate the controller's parameters from measured variables is used in this work in order to design a robust FOPD controller. Simulation results of the ATFOPD controlled system are compared to integer order proportional-derivative IOPD and IOPID controllers, which show that the ATFOPD controller is more effective than the other controllers and its robustness is verified in the presence of disturbances in addition to system parameters and wind speed variations.

Spotted Hyena Optimizer enhances the performance of Fractional-Order PD controller for Tri-copter drone

AbstractIn this study, nonlinear control design is presented for trajectory tracking of Tricopter system. A Fractional Order Proportional Derivative (FOPD) controller has been developed. The performance of controlled Tri-copter system can be enhanced by suggesting modern optimization technique to optimally tune the design parameters of FOPD controller. The Spotted Hyena Optimizer (SHO) is proposed as an optimization method for optimal tuning of FOPD's parameters. To verify the performance of controlled Tricopter system based on optimal SHO-based FOPD controller, computer simulation is implemented via MATLAB codes. Moreover, a comparison study between SHO and Particle Swarm Optimization (PSO) has been made in terms of robustness and transient behavior characteristics of FOPD controller.

Dynamic Voltage Restorer to Mitigate Voltage Sag/Swell using Black Widow Optimization Technique with FOPID Controller

The efficiency with which electrical equipment use electricity is essential for several reasons. First, superior power quality (PQ) improves efficiency and facilitates peak performance in electronic equipment. This article's goal is to make the advantages of installing a Dynamic Voltage Restorer (DVR) to enhance PQ for energy users clearer. To improve DVR dependability and user friendliness, the suggested technique uses a hysteresis voltage control system that works with variable switching frequency. Simulation findings show that voltage compensation is successful under disturbances when a black widow optimization (BWO) based Factional order proportional derivative (FOPID) controller is used. This paper proposed is to improve PQ using a BWO- FOPID controller and compare the outcomes to those achieved from a previously developed PI controller in a distribution power system using MATLAB.

Optimal FOPI-FOPD controller design for rotary inverted pendulum system using grey wolves’ optimization technique

The rotary inverted pendulum (RIP) has been used in various control application areas. This system can be represented as two degree of freedom (2-DOF), consisting of a rotating arm and rotating pendulum rod. RIP is an excellent example of designing a single-input multi-output (SIMO) system. Due to unstable RIP system dynamics, and its nonlinear model, multiple control techniques have been used to control this system. This paper uses integer and fractional order proportional integral-proportional derivative (PI-PD) controllers to stabilize the pendulum in the vertical direction. Constrained optimization approaches, such as the grey wolf optimization (GWO) methodology, are utilized to estimate the parametric values of the controllers. The simulation results showed that the fractional order PI-PD controller outperforms the integer order PI-PD controller with and without disturbance signal existence. A multiple results comparison has illustrated the superiority of fractional order controller over a previous work.

Model references frequency-domain design based fractional order PD controller for quadrotor control: attitude, altitude, and position studies

This article proposes a control strategy based on a Fractional Order Proportional Derivative (FOPD) controller to enhance the performance and robustness of quadrotors operating in trajectory tracking mode. The tuning method proposed for the FOPD controller is based on an ideal Bode transfer function in a closed loop as a fractional reference model. The latter represents the quadrotor desired closed-loop response, and its specification is the key design decision. In this study, we first appropriately set model reference parameters to realistic desired time response characteristics (i.e. overshoot and time constant). Then, the parameters of the FOPD controller are computed using the direct synthesis design approach. The dynamic model of the quadrotor is developed using Lagrange formulation. The model is used to test the performance of the proposed FOPD-based control strategy for the attitude, position, and altitude of the flying robot. The results show that the proposed controller achieved accurately set points tracking with transient responses (i.e. overshoot and time constant) that satisfactorily meet those assigned for their respective reference models. These results validate the effectiveness of our proposed control strategy. Moreover, our comparative studies of the proposed FOPD controller with the conventional PD controller show that the former satisfies better-desired design requirements.

Frequency regulation of a maiden structured power system with integrated renewable energy source by a fuzzy - tuned fractional order controller

ABSTRACT In this paper, a hybrid fuzzy cascaded fractional order proportional integral-fractional order proportional derivative (FCFOPI-FOPD) controller improves the frequency regulation of a renewable energy source (RES) integrated power system. The frequency response characteristics of a two-area non-linear thermal-hydro-wind model under various operating situations are explored with an emphasis on the extensive usage of renewable energy sources (RES) in modern power systems. The power system in this study is developed using an innovative combination of a standard dynamic model of the steam turbine and the actual physical position of the generation rate constraint in the power plant model. The suggested FCFOPI-FOPD hybrid controller minimizes a power system’s frequency deviation caused by specific differences in the pre-scheduled load. The effectiveness of a proposed FCFOPI-FOPD hybrid controller in alleviating system frequency variations under various perturbations was determined using MATLAB Simulink analysis. Comprehensive results show that the FCFOPI-FOPD hybrid controller outperforms the fuzzy-structured fractional order proportional integral and derivative (FOPID) and the proportional and integral controllers. The results also demonstrate that the proposed controller improves the settling time of frequency variations in area-1, area-2, and tie-line power deviation by 47%, 51%, and 66% compared to the responses obtained with the fuzzy FOPID controller.

Energy-based fuzzy supervisory non integer control for performance improvement of PMSG-Based marine energy system under swell effect and parameter uncertainties

Permanent magnet synchronous generators (PMSG) based marine current system has gained much attention due to several advantages such as high predictability, rapid response and high-power density. The performance and power integration efficiency of the above-mentioned system greatly rely on the applied control system. However, system nonlinearities, parameter variations make the controller design process a challenging task. This paper introduces passivity based fuzzy fractional order proportional integral and derivative (PID) controller for PMSG based marine current energy conversion system under swell effect and parameter uncertainties. The proposed approach combines a new passivity-based current control (PBCC) with a fuzzy fractional order PID control (FFO-PID). The proposed method is tested under the swell effect and parameter uncertainties using MATLAB/Simulink. The proposed controller exhibits robustness against swell effect, parameter changes and shows fast convergence of the system states. Furthermore, the exponential stability and error convergence of the proposed controller is analytically justified.

Analysis of Brushless DC Motor Using Enhanced Fopid Controller with ALO Algorithm

The delivery of combined benefits of Alternating Current (AC) motor and Direct Current (DC) Motor makes the Brushless Direct Current (BLDC) motors as a unique feature in numerous industrial applications. The possibilities of running the motor at very high speed with extensive operating life span of BLDC with miniature and its compact design make it an un-ignorable option for Electrical Engineers. With many advantages, till managing as well as controlling the speed of BLDC is complicated. This work is intended to come up with an effective control of speed of the motor through Torque Ripple Minimization Route and an Enhanced-Fractional Order Proportional Integral and Derivative Controller based Ant-Lion Optimizer (EFCA)Technique, which is evaluated as well as its strategy is executed in this paper. The critical factors like BLDC’s Back Electro Magnetic Force, Values of Current, Torque level and the operating speed of the motor are considered and evaluated closely and from that, the ripple level present in the torque is controlled as well as it is brought down to minimalistic value by using Fractional Order (FO) Proportional Integral Derivative (FOPID) controller. To control the speed of the motor, the Gain parameters and the ripple present in the torque have to be reduced, the latter is obtained using FOPID controller and the former is achieved by employing Modified – Ant Lion Optimizer (ALO). The technique presented in this paper helps for the enhancement of controlling behavior of BLDC and improves the overall performance of the motor. The dynamic part of the BLDC is analyzed using the platform of Matrix Laboratory (MATLAB) simulink and the results are tabulated. The final values are compared with the results of the existing methodologies and the comparative study has yielded that the presented technique has outperformed than that of the available methodologies. A proto type model has been designed and results are executed in real time environment to ensure the effectiveness of the presented work.

An Optimal Adaptive Control Strategy for Energy Balancing in Smart Microgrid Using Dynamic Pricing

Energy balancing in smart microgrid plays a vital role to improve the reliability and resolves the load shedding problem to ensure consistent energy supply. However, energy balancing is challenging due to uncertain and intermittent nature of renewable energy integrated in smart microgrid. To solve such problems, dynamic energy pricing mechanism is developed that maintain energy balance for overcoming the gap between demand and supply. Thus, the particle swarm optimization based super twisting sliding mode controller (PSO-STSMC) is developed which uses dynamic energy pricing to control renewable energy resources’ generation according to the consumers’ demand for real time closed loop energy balancing in an energy market. The proposed PSO-STSMC based model is compared with existing models like proportional integral derivative (PID) controller, proportional integral (PI) controller, proportional derivative (PD) controller, and fractional order proportional derivative (FO-PD) controller and the optimized models of the particle swarm optimization based proportional integral (PSO-PI) controller and particle swarm optimization based proportional integral derivative (PSO-PID) controller. Simulations results demonstrate that energy price regulation by PSO-STSMC consistently controls the elastic demand for real time energy balancing.

A novel robust Virtual Reference Feedback Tuning approach for minimum and non-minimum phase systems

In real-world applications, it is often desired that the design of a closed-loop system must attain not only high performance but also robustness. This paper presents a novel robustness-based formulation for control for discrete time minimum and non-minimum phase systems using the Virtual Reference Feedback Tuning (VRFT) framework. The proposed idea is to design robust lower and higher order Proportional Integral and Derivative (PID) controller using Maximum Sensitivity (Ms) based closed-loop reference model by minimization of the VRFT objective function (JVR) The efficacy of the approach is verified on various systems in simulation and also demonstrated on the Temperature Control Process and Level Control Process experimental setups. The proposed VRFT approach provides improved performance and robustness for set point tracking and disturbance rejection. Also, the proposed approach ensures stability and specific robustness of the closed-loop system. Further, the fragility of the controller is investigated for perturbations in the controller parameters.

Stability analysis of pitch angle control of large wind turbines with fractional order PID controller

This article proposes a robust delay dependent stability analysis of pitch control system of large wind turbines (LWTs) having communication time delay with fractional order PID controller. Fractional order proportional integral and derivative (FOPID) controller is used for pitch angle control. To analyze gain and phase margins effect, a gain and phase margins (GPMs) tester is added to the control path of the large wind turbine (LWT). An exact method in frequency domain is applied for the stability analysis of the LWT. Appropriate selection of FOPID controller parameters, large delay margins are obtained with respect to previous studies. A more robust control scheme is presented and analyzed with different operating conditions. As compared to literature studies, larger time delay margin is obtained. Moreover, in terms of control systems performance metrics better results are obtained with respect to previous studies in the literature. Validation of theoretical results are verified by simulations in Simulink/Matlab environment under various operating conditions. Also, delay margin accuracy is compared with the results obtained from Quasi-Polynomial Mapping Based Root finder (QPmR) method. The results show that better delay margin results are obtained with respect to previous studies.

Fractional order proportional derivative control for time delay plant of the second order: The frequency frame

This paper intends to tune fractional order proportional derivative controller for the performance, stability and robustness of second order plus time delay plant. The tuning method is based on the previously proposed “frequency frame” which is a rectangular frame enclosing gain and phase margins limited with gain and phase crossover frequencies in the Bode plot. Edges of the frame are tuned to achieve desired crossover frequencies and margins. By shaping the curves of the Bode plot, improvements are observed in the performance and robustness of the second order plus time delay system controlled by a fractional order proportional derivative controller. Generalized equations to obtain the parameters of the fractional order proportional derivative controller for second order plus time delay plant are given. In contrast to existing studies, this method reduces mathematical complexity when providing desired properties. Three examples are considered and effectiveness of the frequency frame is shown.

Robust Motion Control Using Combined Centralized Non-Integer Pre-Filter of Type FBLFD and Fractional Order Pdμ Controller

Designing and automation of a robust controller and pre-filter for multi-variable processes are a very challenging task. In this study, an automated and simple conception of multi- variable QFT (QFT: Quantitative Feedback Theory) is proposed using fractional order controllers design. Contrary to the traditional manual QFT design, our methodology consists of obtaining all required performances in QFT without going to the QFT loop shaping process.A non-integer order proportional derivative controller PDμ is conceived for a robust control of MIMO (Multi Input Multi Out- put) systems through multi-objective optimization based genetic algorithm . In the designed approach an implicit fractional order pre-filter FBLFD (FBLFD : Frequency Band Limited Fractional Differentiator) is adopted and its parameters are optimized. A diagonal version of this fractional order pre-filter and a non diagonal one are proposed. The problem of loop interactions is eliminated by the non diagonal designed pre-filter. Consequently, the procedure of fractional controller and pre-filter parameters optimization is illustrated. A comparative study and the efficiency of the developed methodologies are considered through SCARA robot.

Evaluation of Power System ASR Indices for IDN-FOPD Controller based Automatic Generation Control of a Two-Area Thermal Restructured Power System

This paper presents the evaluation measures for achieving the power system Ancillary Services Requirement (ASR) indices subject to the AGC assessment of a 2 area thermal restructured system. A novel Iintegral Derivative along with Fractional Order Proportional Derivative (IDN-FOPD) controller is proposed to design AGC loop. The parameters of IDN-FOPD are tuned utilizing the Big Bang Big Crunch algorithm. An extensive comparative analysis been carried out with Proportional-Integral (PI) and Fractional Order Proportional-Integral-Derivative (FOPID) controller. Power system ASR indices are computed based on the dynamic response of the control input deviations and mechanical power generation deviations. Results arrived depicts that BBBC tuned IDN-FOPD controller improves the output retort of the test system.

Optimized IDN-FOPD Controller based AGC Loop of a Wind-Solar-Thermal Interconnected Power System with HES and IPFC Units

The current scenario of this version focuses on automatic generation control (AGC) exploration to a practical power system incorporating a versatile mixture of two-area generating multi-source units under a deregulated format. Each and every area will have two generating and distribution companies termed as Gencos and Discos. In Gencos, area-1 is a combination of wind energy power plant along with a thermal unit while area-2 is a solar power plant and thermal unit. In this research, the thermal plants are well thought-out with reheat tandem compound steam turbine rather than steam turbine dynamic representation constraint is believed to be expected. In this examination, another ID comprises filter with Fractional Order Proportional Derivative (IDN-FOPD) controller is prearranged and carry out for the AGC scheme. The control limits of the IDN-FOPD controller refrained using Lightning Search Algorithm (LSA) and its demonstration is dissimilarity and PI and Fractional Order Proportional Integral Derivative (FOPID) based controllers. Further to improve AGC execution, Hydrogen Energy Storage (HES) is included into its control area and Interline Power Flow Controller (IPFC) is integrated to dealt with Tie line. Simulated results demonstrate that the LSA tuned IDN-FOPD controller progress the vibrant yield reaction of the test system as far as less summit deviation, tie-line power oscillations and settling time of area frequencies in a variety of interactions of the deregulated power system. The implementation of HES and IPFC units successfully detain the initial descend in reappearance just as the tie line divergences in power while an unexpected burden upsetting influence. Subsequently, the coordinated activity of HES-IPFC units in the AGC circle could perk up the system implementation.

On time-constant robust tuning of fractional order proportional derivative controllers

This paper deals with analyzing a newly introduced method for tuning of fractional order &#x005B proportional derivative &#x005D &#x0028 FO&#x005B PD &#x005D &#x0029 controllers to be used in motion control. By using this tuning method, not only the phase margin and gain crossover frequency are adjustable, but also robustness to variations in the plant time-constant is guaranteed. Conditions on the values of control specifications &#x0028 desired phase margin and gain crossover frequency &#x0029 for solution existence in this tuning method are found. Also, the number of solutions is analytically determined in this study. Moreover, experimental verifications are presented to indicate the applicability of the obtained results.

Fractional order proportional derivative control for first order plus time delay plants: achieving phase and gain specifications simultaneously

The aim of the method in this paper is to achieve desired gain and phase specifications for robustness and performance of first order plus time delay plants. The previously proposed method “frequency frame”, implemented for tuning fractional order proportional integral controllers, is applied on such plants controlled with a fractional order proportional derivative controller. Four specifications of gain and phase are considered in the Bode plot inspired from an ideal system. The frame is drawn enclosing the magnitude and phase curves limited by gain and phase crossover frequencies. Then, the size of the frame is tuned to provide loop-shaping of the curves to meet desired properties. The iso-damping property is achieved by shaping the phase curve. Similarly, numerous studies in the literature work on robustness achievement by loop shaping the phase curve of the Bode plot. However, the “frequency frame” approach is a new perspective in controller tuning. Two examples are illustratively given to prove the proposed method. Plants in the examples are also considered to be due to load disturbances. Simulation results and effects of the method are clearly explained.

Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer

SUMMARYThis paper presents a novel robust hybrid fractional order proportional derivative sliding mode controller (HFOPDSMC) for 2-degree of freedom (2-DOF) robot manipulator based on extended grey wolf optimizer (EGWO). Sliding mode controller (SMC) is remarkably robust against the uncertainties and external disturbances and shows the valuable properties of accuracy. In this paper, a new fractional order sliding surface (FOSS) is defined. Integrating the fractional order proportional derivative controller (FOPDC) and a new sliding mode controller (FOSMC), a novel robust controller based on HFOPDSMC is proposed. The bounded model uncertainties are considered in the dynamics of the robot, and then the robustness of the controller is verified. The Lyapunov theory is utilized in order to show the stability of the proposed controller. In this paper, the EGWO is developed by adding the emphasis coefficients to the typical grey wolf optimizer (GWO). The GWO and EGWO, then, are applied to optimize the proposed control parameters which result in the optimized GWO-HFOPDSMC and EGWO-HFOPDSMC, respectively. The effectivenesses of the optimized controllers (GWO-HFOPDSMC and EGWO-HFOPDSMC) are completely verified by comparing the simulation results of the optimized controllers with the typical FOSMC and HFOPDSMC.