Position control of an industrial robot using fractional order controller

2017 ◽  
Author(s):  
Iulia Clitan ◽  
Vlad Muresan ◽  
Mihail Abrudean ◽  
Andrei Clitan ◽  
Radu Miron
2021 ◽  
Author(s):  
Xuan Liu ◽  
Pengchong Chen ◽  
Ying Luo

Abstract In this paper, a practical and systematic tuning procedure for fractional order controller using particle swarm algorithm (PSO) based on digital twin (DT) system of industrial robot has been developed. The procedure includes a virtual realization of control system based on digital twin concept. Then a particle swarm algorithm is introduced to optimize the five parameters of the cascade fractional order PI-PIλ controller. The optimization procedure using particle swarm algorithm based on digital twin concept is also presented. Finally, the virtual industrial robot model in digital twin is simulated to verify the applicability of the optimization method. The effectiveness of using the cascaded fractional order PI-PIλ controller compared to the cascaded integer order PI-PI controller is illustrated by the simulation results, where the cascaded fractional order PI-PIλ controller responses faster with smaller tracking error over the integer order one.


2013 ◽  
Vol 62 (3) ◽  
pp. 505-516 ◽  
Author(s):  
Andrzej Ruszewski ◽  
Andrzej Sobolewski

Abstract The paper presents the problem of position control of DC motor with rated voltage 24 V loaded by flywheel. The fractional order PD controller implemented in National Instruments NI ELVIS II programmed in LabView is used for controlling. The simple method for determining stability regions in the controller parameters space is given. Knowledge of these regions permits tuning of the controller and ensures required the phase margin of the system


2021 ◽  
Vol 4 (3) ◽  
pp. 50
Author(s):  
Preeti Warrier ◽  
Pritesh Shah

The control of power converters is difficult due to their non-linear nature and, hence, the quest for smart and efficient controllers is continuous and ongoing. Fractional-order controllers have demonstrated superior performance in power electronic systems in recent years. However, it is a challenge to attain optimal parameters of the fractional-order controller for such types of systems. This article describes the optimal design of a fractional order PID (FOPID) controller for a buck converter using the cohort intelligence (CI) optimization approach. The CI is an artificial intelligence-based socio-inspired meta-heuristic algorithm, which has been inspired by the behavior of a group of candidates called a cohort. The FOPID controller parameters are designed for the minimization of various performance indices, with more emphasis on the integral squared error (ISE) performance index. The FOPID controller shows faster transient and dynamic response characteristics in comparison to the conventional PID controller. Comparison of the proposed method with different optimization techniques like the GA, PSO, ABC, and SA shows good results in lesser computational time. Hence the CI method can be effectively used for the optimal tuning of FOPID controllers, as it gives comparable results to other optimization algorithms at a much faster rate. Such controllers can be optimized for multiple objectives and used in the control of various power converters giving rise to more efficient systems catering to the Industry 4.0 standards.


2021 ◽  
Vol 11 (8) ◽  
pp. 3631
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Pietro Fanghella

Fractional Calculus is usually applied to control systems by means of the well-known PIlDm scheme, which adopts integral and derivative components of non-integer orders λ and µ. An alternative approach is to add equally distributed fractional-order terms to the PID scheme instead of replacing the integer-order terms (Distributed Order PID, DOPID). This work analyzes the properties of the DOPID scheme with five terms, that is the PII1/2DD1/2 (the half-integral and the half-derivative components are added to the classical PID). The frequency domain responses of the PID, PIlDm and PII1/2DD1/2 controllers are compared, then stability features of the PII1/2DD1/2 controller are discussed. A Bode plot-based tuning method for the PII1/2DD1/2 controller is proposed and then applied to the position control of a mechatronic axis. The closed-loop behaviours of PID and PII1/2DD1/2 are compared by simulation and by experimental tests. The results show that the PII1/2DD1/2 scheme with the proposed tuning criterium allows remarkable reduction in the position error with respect to the PID, with a similar control effort and maximum torque. For the considered mechatronic axis and trapezoidal speed law, the reduction in maximum tracking error is −71% and the reduction in mean tracking error is −77%, in correspondence to a limited increase in maximum torque (+5%) and in control effort (+4%).


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