scholarly journals Experimental Assessment of Fractional-Order PDD1/2 Control of a Brushless DC Motor with Inertial Load

Actuators ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 13
Author(s):  
Luca Bruzzone ◽  
Pietro Fanghella ◽  
Mario Baggetta
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Experimental Tests ◽  
Research Area ◽  
Digital Implementation ◽  
Integer Order ◽  
Brushless Dc ◽  
Brushless Motor ◽  
Control Schemes ◽  
Derivative Term

The application of Fractional Calculus to control mechatronic devices is a promising research area. The most common approach to Fractional-Order (FO) control design is the PIλDµ scheme, which adopts integrals and derivatives of non-integer order λ and µ. A different possible approach is to add FO terms to the PID control, instead of replacing integer order terms; for example, in the PDD1/2 scheme, the half-derivative term is added to the classical PD. In the present paper, by mainly focusing on the transitory behaviour, a comparison among PD, PDµ, and PDD1/2 control schemes is carried out, with reference to a real-world mechatronic implementation: a position-controlled rotor actuated by a DC brushless motor. While using a general non-dimensional approach, the three control schemes are first compared by continuous-time simulations, and tuning criteria are outlined. Afterwards, the effects of the discrete-time digital implementation of the controllers are investigated by both simulation and experimental tests. The results show how PDD1/2 is an effective and almost cost-free solution for improving the trajectory-tracking performance in position control of mechatronic devices, with limited computational burden and, consequently, easily implementable on most commercial motion control drives.

scholarly journals Fractional-Order PII1/2DD1/2 Control: Theoretical Aspects and Application to a Mechatronic Axis

2021 ◽  
Vol 11 (8) ◽  
pp. 3631
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Pietro Fanghella
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Tracking Error ◽  
Experimental Tests ◽  
Maximum Torque ◽  
Control Effort ◽  
Tuning Method ◽  
Alternative Approach ◽  
Remarkable Reduction ◽  
Distributed Order

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%).

Angular control of differential shape-memory alloy spring actuator for underactuated dynamic system

2021 ◽  
pp. 107754632110216
Author(s):  
M Banu Sundareswari ◽  
G Then Mozhi ◽  
K Dhanalakshmi
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Fractional Order ◽  
Position Control ◽  
Sliding Mode ◽  
Control Effort ◽  
Control Laws ◽  
Integer Order ◽  
Two Degree Of Freedom ◽  
Outer Primary

This article dwells on two technical aspects, the design and implementation of an upgraded version of the differential shape-memory alloy–based revolute actuator/rotary actuating mechanism for stabilization and position control of a two-degree-of-freedom centrally hinged ball on beam system. The actuator is configured with differential and inclined placement of shape-memory alloy springs to provide bidirectional angular shift. The shape-memory alloy spring actuator occupies a smaller space and provides more extensive reformation with justifiable actuation force than an equally able shape-memory alloy wire. The cross or diagonal architecture of shape-memory alloy springs provides force amplification and reduces the actuator’s control effort. The shape-memory alloy spring–embodied actuator’s function is exemplified by the highly dynamic underactuated custom-designed ball balancing system. The ball position control is experimentally demonstrated by cascade control using the control laws that have been unattempted for shape-memory alloy actuated systems; the ball is positioned with linear (integer-order and fractional-order) proportional–integral–derivative controllers optimized with genetic algorithm and particle swarm optimization at the outer/primary loop. Angular control of the shape-memory alloy actuated beam is obtained with nonlinear (integer-order and fractional-order sliding mode control) control algorithms in the inner/secondary loop.

scholarly journals Effective Position Control for a Three-Phase Motor

Electronics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 241 ◽  
Author(s):  
Patxi Alkorta ◽  
Oscar Barambones ◽  
José Cortajarena ◽  
Itziar Martija ◽  
Fco. Maseda
Keyword(s):  
Frequency Domain ◽  
Position Control ◽  
Permanent Magnet Synchronous Motor ◽  
Experimental Tests ◽  
Research Area ◽  
Load Disturbance ◽  
Three Phase ◽  
Position Controller ◽  
Incremental Encoder ◽  
Favorable Conditions

This document presents an efficient proportional derivative (PD) position controller for three-phase motor drives. The regulator has been designed in frequency domain, employing the direct–quadrature (d–q) synchronous rotating reference frame and the indirect vector control. The presented position regulator is easy to tune and incorporates a feed forward (FF) term to compensate effectively the effect of the load disturbance. This position controller has been validated experimentally by using two industrial three-phase motors: an induction motor (IM) of 7.5 kW and a permanent magnet synchronous motor (PMSM) of 3.83 kW. The inner proportional integral (PI) current loops of both machines have also been designed in the frequency domain. Each machine has connected in its shaft an incremental encoder of 4096 pulses per revolution, to measure the position. Several simulations and experimental tests have been carried out with both motors, in favorable conditions and also with various types of adversities (parametric uncertainties, unknown load disturbance and measurement noise in the position and current loops), getting very good results and suggesting that this controller could be used in the research area and also in the industry.

Modeling and Design of Fractional-Order IMC Based Controller for Power Plant Gas Turbine

2015 ◽  
Author(s):  
Sharad P. Jadhav ◽  
Rajan H. Chile ◽  
Satish T. Hamde
Keyword(s):  
Power Plant ◽  
Gas Turbine ◽  
Fractional Order ◽  
Internal Model ◽  
Controller Design ◽  
Optimization Technique ◽  
Research Area ◽  
Integer Order ◽  
Point Tracking ◽  
Internal Model Controller

Fractional-order modeling and controller design by a simplified way is the demanding research area and is gearing more and more momentum. This paper is the attempt of application of fractional-order modeling and controller design for the power plant gas turbine. The Gas Turbine is most important equipment in power, aviation and automotive industry. It converts the thermal energy of fuel into the mechanical power. Therefore, important requirement of gas turbine system is to control the flow of input fuel. The existing identified model of the gas turbine between the input fuel flow and the output speed, is of high-order and integer type, which is reduced to the simple and compact integer-order (IO) and fractional-order (FO) models using local optimization technique. The fractional-order internal model controller (FO-IMC) is designed and to show the performance efficacy it is compared with integer-order internal model controller (IO-IMC), which is also designed using the same methodology and specification. Simulation results show that FO-IMC based controller gives better performance for the set point tracking, plant uncertainty and disturbance rejection than the IO-IMC. FO-IMC controller also satisfy the robust stability condition.

scholarly journals PMSM Servo-Drive Fed by SiC MOSFETs Based VSI

2018 ◽  
Vol 3 (1) ◽  
pp. 35-45
Author(s):  
Tomasz Tarczewski ◽  
Michal Skiwski ◽  
Lech M. Grzesiak ◽  
Marek Zieliński
Keyword(s):  
Position Control ◽  
Experimental Tests ◽  
Current Control ◽  
Switching Frequency ◽  
Servo Drive ◽  
Power Switching ◽  
High Switching Frequency ◽  
High Efficient ◽  
Control Schemes ◽  
Efficient Power

Abstract The article presents modern PMSM servo-drive with SiC MOSFETs power devices and microprocessor with ARM Cortex core. The high switching frequency is obtained due to the application of high efficient power switching components and powerful microprocessor. It allows to achieve good dynamical properties of current control loop, proper disturbance compensation and silent operation of servo-drive. Experimental tests results obtained for two different control schemes (i.e., cascade control structure and state feedback position control) are presented.

scholarly journals Optimal Digital Implementation of Fractional-Order Models in a Microcontroller

Entropy ◽  
2020 ◽  
Vol 22 (3) ◽  
pp. 366
Author(s):  
Mariusz Matusiak ◽  
Marcin Bąkała ◽  
Rafał Wojciechowski
Keyword(s):  
Fractional Order ◽  
Absolute Error ◽  
Optimization Techniques ◽  
Memory Storage ◽  
Digital Implementation ◽  
Software Optimization ◽  
Brushless Dc ◽  
Fractional Differintegral ◽  
Non Local ◽  
Short Memory

The growing number of operations in implementations of the non-local fractional differentiation operator is cumbersome for real applications with strict performance and memory storage requirements. This demands use of one of the available approximation methods. In this paper, the analysis of the classic integer- (IO) and fractional-order (FO) models of the brushless DC (BLDC) micromotor mounted on a steel rotating arms, and next, the discretization and efficient implementation of the models in a microcontroller (MCU) is performed. Two different methods for the FO model are examined, including the approximation of the fractional-order operator s ν ( ν ∈ R ) using the Oustaloup Recursive filter and the numerical evaluation of the fractional differintegral operator based on the Grünwald–Letnikov definition and Short Memory Principle. The models are verified against the results of several experiments conducted on an ARM Cortex-M7-based STM32F746ZG unit. Additionally, some software optimization techniques for the Cortex-M microcontroller family are discussed. The described steps are universal and can also be easily adapted to any other microcontroller. The values for integral absolute error (IAE) and integral square error (ISE) performance indices, calculated on the basis of simulations performed in MATLAB, are used to evaluate accuracy.

scholarly journals Fractional-Order Control of a Micrometric Linear Axis

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Luca Bruzzone ◽  
Pietro Fanghella
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Tracking Error ◽  
Transient State ◽  
Step Response ◽  
Controlled System ◽  
Fractional Order Control ◽  
Control Scheme ◽  
Derivative Term ◽  
Pole Location

This paper discusses the application of a particular fractional-order control scheme, the PDD1/2, to the position control of a micrometric linear axis. The PDD1/2scheme derives from the classical PD scheme with the introduction of the half-derivative term. The PD and PDD1/2schemes are compared by adopting a nondimensional approach for the sake of generality. The linear model of the closed-loop system is discussed by analysing the pole location in theσ-plane. Then, different combinations of the derivative and half-derivative terms, characterized by the same settling energy in the step response, are experimentally compared in the real mechatronic application, with nonnegligible friction effects and a position set point with trapezoidal speed law. The experimental results are coherent with the nonlinear model of the controlled system and confirm that the introduction of the half-derivative term is an interesting option for reducing the tracking error in the transient state.

scholarly journals Dynamic Analysis of Complex Synchronization Schemes between Integer Order and Fractional Order Chaotic Systems with Different Dimensions

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Adel Ouannas ◽  
Xiong Wang ◽  
Viet-Thanh Pham ◽  
Toufik Ziar
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Effective Control ◽  
Lyapunov Approach ◽  
Integer Order ◽  
Fractional Order Differential Equations ◽  
Control Schemes ◽  
Stability Method ◽  
Different Dimensions ◽  
Theoretical Results

We present new approaches to synchronize different dimensional master and slave systems described by integer order and fractional order differential equations. Based on fractional order Lyapunov approach and integer order Lyapunov stability method, effective control schemes to rigorously study the coexistence of some synchronization types between integer order and fractional order chaotic systems with different dimensions are introduced. Numerical examples are used to validate the theoretical results and to verify the effectiveness of the proposed schemes.

scholarly journals Invariant Image Representation Using Novel Fractional-Order Polar Harmonic Fourier Moments

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1544
Author(s):  
Chunpeng Wang ◽  
Hongling Gao ◽  
Meihong Yang ◽  
Jian Li ◽  
Bin Ma ◽  
...  
Keyword(s):  
Image Reconstruction ◽  
Fractional Order ◽  
Continuous Functions ◽  
Kernel Functions ◽  
Superior Performance ◽  
Image Description ◽  
Orthogonal Moments ◽  
Integer Order ◽  
Geometric Invariance ◽  
Order Continuous

Continuous orthogonal moments, for which continuous functions are used as kernel functions, are invariant to rotation and scaling, and they have been greatly developed over the recent years. Among continuous orthogonal moments, polar harmonic Fourier moments (PHFMs) have superior performance and strong image description ability. In order to improve the performance of PHFMs in noise resistance and image reconstruction, PHFMs, which can only take integer numbers, are extended to fractional-order polar harmonic Fourier moments (FrPHFMs) in this paper. Firstly, the radial polynomials of integer-order PHFMs are modified to obtain fractional-order radial polynomials, and FrPHFMs are constructed based on the fractional-order radial polynomials; subsequently, the strong reconstruction ability, orthogonality, and geometric invariance of the proposed FrPHFMs are proven; and, finally, the performance of the proposed FrPHFMs is compared with that of integer-order PHFMs, fractional-order radial harmonic Fourier moments (FrRHFMs), fractional-order polar harmonic transforms (FrPHTs), and fractional-order Zernike moments (FrZMs). The experimental results show that the FrPHFMs constructed in this paper are superior to integer-order PHFMs and other fractional-order continuous orthogonal moments in terms of performance in image reconstruction and object recognition, as well as that the proposed FrPHFMs have strong image description ability and good stability.

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