Robust Control of a Laboratory Hydraulic Canal by Using a Fractional PI Controller

2007 ◽  
Author(s):  
Luis Sa´nchez Rodri´guez ◽  
Vicente Feliu Batlle ◽  
Rau´l Rivas Pe´rez ◽  
Miguel A´ngel Rui´z Torija
Keyword(s):  
Fractional Order ◽  
Control Strategy ◽  
Supervisory Control ◽  
Pi Controller ◽  
Time Varying ◽  
Fractional Order Control ◽  
Supervision System ◽  
Dynamical Parameters ◽  
Fractional Order Pi Controller ◽  
Fractional Controller

A fractional order control strategy has been implemented in an automated laboratory hydraulic canal characterized to present time-varying dynamical parameters. A method for tuning a fractional order PI controller that makes the hydraulic canal control system robust to process parameters variations has been proposed too. Experiments have been carried out in our laboratory hydraulic canal, and the fractional controller has been implemented in an industrial SCADA (Supervisory Control And Data Acquisition) control and supervision system. The comparison between the response of our fractional PI controller and the standard PI controller proved the effectiveness of the proposed fractional order control strategy in terms of performance and robustness.

scholarly journals Robust control strategy for improving the performance of a soft robotic link

2021 ◽  
pp. 499-506
Author(s):  
Luis Nagua ◽  
Jorge Muñoz ◽  
Lisbeth Mena ◽  
Concepcion A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Control System ◽  
Robust Control ◽  
Fractional Order ◽  
Control Strategy ◽  
Parallel Mechanism ◽  
Pi Controller ◽  
Main Element ◽  
Flexion Extension ◽  
Robust Control System ◽  
Fractional Order Pi Controller

The robotic neck mechanism considered in this paper has as main element a soft link that emulates a human neck with two DOF (flexion, extension and lateral bending). The mechanism is based on a Cable-Driven Parallel Mechanism (CDPM) with components easy to manufacture in a 3D printer.Due to the soft link properties and the platform mechanics, it is important to provide a robust control system. Two designs, a robust PID controller and a Fractional Order PI controller (FOPI) are proposed and compared, the fractional order control showing an enhanced performance. Both control approaches are tested in the real prototype, validating the soft neck feasibility and showing the robustness of the platform to mass changes at the neck tip.

Improved Control Strategy for Subsynchronous Resonance Mitigation with Fractional-order PI Controller

2016 ◽  
Vol 17 (6) ◽  
pp. 683-692 ◽  
Author(s):  
D. Koteswara Raju ◽  
Bhimrao S. Umre ◽  
A.S. Junghare ◽  
B. Chitti Babu
Keyword(s):  
Fractional Order ◽  
Control Strategy ◽  
Frequency Component ◽  
Pi Controller ◽  
Fine Tuning ◽  
Turbine Generator ◽  
Torsional Mode ◽  
Subsynchronous Resonance ◽  
Similar Quantity ◽  
Fractional Order Pi Controller

Abstract This paper explores a robust Fractional-order PI (FOPI) controller to diminish Subsynchronous Resonance (SSR) using Static Synchronous series compensator (SSSC). The diminution of SSR is accomplished by increasing the network damping with the injection of voltage of subsynchronous component into the line at those frequencies which are proximate to the torsional mode frequency of the turbine-generator shaft. The voltage of subsynchronous frequency component is extracted from the transmission line and further the similar quantity of series voltage is injected by SSSC into the line to make the current of subsynchronous frequency component to zero which is the major source of oscillations in the turbine-generator shaft. The insertion and fine tuning of Fractional-order PI controller in the control scheme of SSSC the subsynchronous oscillations are reduced to 4 % as compared to conventional PI controller. The studied system is modelled and simulated using MATLAB-Simulink and the results are analysed to show the precision and robustness of the proposed control strategy.

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