JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2015, Vol. 45 ›› Issue (5): 58-62.doi: 10.6040/j.issn.1672-3961.0.2015.004

Previous Articles     Next Articles

Fractional order internal model control with fuzzy-tuning for DC speed regulating system

ZHAO Zhitao, ZHAO Zhicheng, WANG Huifang   

  1. School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, Shanxi, China
  • Received:2015-01-08 Revised:2015-05-06 Online:2018-10-20 Published:2015-01-08

Abstract: A fuzzy self-tuning fractional internal model controller was proposed for DC speed regulation system. Firstly, the theory of fractional calculus and internal model control (IMC) were combined to design a fractional internal model controller, and the parameters of controller could be tuned according to the phase margin and crossover frequency of the system. Then, based on analysis of the impact of the phase margin and crossover frequency on the system performance, the fuzzy controller was designed. So, the online self-tuning of the controller parameters was realized according to speed error and its change, and the system performance dependence on the phase margin and crossover frequency selection was overcome. The simulation and experimental results showed that the proposed controller could make the system have a better dynamic response characters, disturbance rejection performance and robustness against parameters perturbation of system.

Key words: fractional order control, fuzzy control, DC speed regulating system, internal model control, phase margin, crossover frequency

CLC Number: 

  • TP273
[1] 吴振顺, 姚建均, 岳东海. 模糊自整定PID控制器的设计及其应用[J]. 哈尔滨工业大学学报, 2004, 36(11):1578-1580. WU Zhenshun, YAO Jianjun, YUE Donghai. A self-tuning fuzy PID controller and its application[J]. Journal of Harbin Institute of Technology, 2004, 36(11):1578-1580.
[2] ROMERO S V, HAGGLUND T, ASTROM K J. Design of measurement noise filters for PID control[C]//Proceedings of the 19th International Federation of Automatic Control World Congress. Cape Town, South Africa: IFAC, 2014:8359-8364.
[3] PAPADOPOULOS K G, PAPASTEFANAKI E N, MARGARIS N I. Explicit analytical PID tuning rules for the design of type-III control loops[J]. IEEE Transactions on Industrial Electronics, 2013, 60(10):4650-4664.
[4] MA F. An improved fuzzy PID control algorithm applied in liquid mixing system[C]//Proceedings of IEEE International Conference on Information and Automation. Hailar, China:IEEE, 2014:587-591.
[5] AYALA H V H, DOS S C L. Tuning of PID controller based on a multi objective genetic algorithm applied to a robotic manipulator[J]. Expert Systems with Applications, 2012, 39(10):8968-8974.
[6] PODLUBNY I. Fractional-order systems and PIλDμ controllers[J]. Automatic Control, 1999, 44(1):208-214.
[7] VALERIO D, DA C J S. Tuning of fractional PID controllers with Ziegler—Nichols-type rules[J]. Signal Processing, 2006, 86(10):2771-2784.
[8] PADULA F, VISIOLI A. Optimal tuning rules for proportional-integral-derivative and fractional-order proportional-integral-derivative controllers for integral and unstable processes[J]. Control Theory & Applications, 2012, 6(6):776-786.
[9] DAS S, SAHA S, DAS S, et al. On the selection of tuning methodology of FOPID controllers for the control of higher order processes[J]. ISA Transactions, 2011, 50(3):376-388.
[10] MOHJE C A, VINAGRE B M, CHEN Y Q, et al. Proposals for fractional PIλDμ tuning[C]//Proceedings of The First IFAC Symposium on Fractional Differentiation and its Applications. Lisbon, Portugal: IFAC, 2004:115-120.
[11] LIU L, PAN F, XUE D. Variable-order fuzzy fractional PID controller[J]. ISA Transactions, 2015(55):227-233.
[12] VINOPRABA T, SIVAKUMARAN N, NARAYANAN S, et al. Design of internal model control based fractional order PID controller[J]. Journal of Control Theory and Applications, 2012, 10(3):297-302.
[13] BETTAYEB M, MANSOURI R. Fractional IMC-PID-filter controllers design for non integer order systems[J]. Journal of Process Control, 2014, 24(4):261-271.
[14] 赵志诚, 张博, 刘志远,等. 一种分数阶系统内模PID控制器设计方法[J]. 信息与控制, 2014, 43(2):129-133. ZHAO Zhicheng, ZHANG Bo, LIU Zhiyuan, et al. Design method for IMC-PID controller for fractional order system[J]. Information and Control, 2014, 43(2):129-133.
[15] MAAMAR B, RACHID M. IMC-PID-fractional-order-filter controllers design for integer order systems[J]. ISA Transactions, 2014, 53(5):1620-1628.
[16] SINGHAL R, PADHEE S, KAUR G. Design of fractional order PID controller for speed control of DC motor[J]. International Journal of Scientific and Research Publications, 2012, 2(6):1-8.
[17] PRABOO N N, BHAHA P K. Simulation work on fractional order PI control strategy for speed control of DC motor based on stability boundary locus method[J]. International Journal of Engineering Trends and Technology, 2013, 4(8):3403-3409.
[18] BARBOSA R S, TENREIRO M J A, JESUS I S. Effect of fractional orders in the velocity control of a servo system[J]. Computers & Mathematics with Applications, 2010, 59(5):1679-1686.
[19] MURESAN C I, FOLEA S, MOIS G, et al. Development and implementation of an FPGA based fractional order controller for a DC motor[J]. Mechatronics, 2013, 23(7):798-804.
[20] 屈园园, 张井岗. 基于Quanser的直流调速系统半实物仿真[J]. 太原科技大学学报, 2012, 33(3):172-176.QU Yuanyuan, ZHANG Jinggang. Semi-physical simulation of DC speed regulating system based on Quanser[J]. Journal of Taiyuan University of Science and Technology, 2012, 33(3):172-176.
[21] THOMAS A, JOSE S H, PRASAD A, et al. Speed control of a DC motor using fractional order proportional derivative (FOPD) control[J]. International Journal of Engineering Research and Technology, 2014, 3(1):3460-3464.
[1] LI Xiangyu, ZHAO Zhicheng, WANG Wenyu. Fractional internal model control of PWM rectifier based on inverted decoupling [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(4): 109-115.
[2] ZHANG Bohan, CHEN Zheming, FU Jianghua, CHEN Bao. Self-adaption acceleration slip regulation control of four-wheel independently-driving electric vehicle [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(1): 96-103.
[3] HOU Mingdong, WANG Yinsong, TIAN Jie. An IMC-PID robust control method for process of integrator plus time delay [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2016, 46(5): 64-67.
[4] ZHANG Jinggang, MA Wenting, ZHAO Zhicheng. Two-degree-of-freedom Smith predictor control for cascade time delay process [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2015, 45(5): 43-50.
[5] WANG Huifang, ZHAO Zhicheng, ZHANG Jinggang. Design of a fractional order IMC-IDμ controller for high order systems [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2014, 44(6): 77-82.
[6] ZHOU Feng-yu, TIAN Guo-hui, GUO Dan, ZHOU Xiang-zhang. Design and implement of the onboard computer software system of service robots for helping the aged and disabled [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2011, 41(1): 32-39.
[7] LI Yi-bin1, LI Cai-hong1,2, SONG Yong1. Adaptive behavior design based on FNN for the mobile robot [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2010, 40(2): 28-33.
[8] TANG Jin-jun,CAO Kai . Hierarchical fuzzy controller based map-matching algorithm [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 42-46 .
[9] JIAN Ping,LI Qiqiang . Internal model control for force reflecting teleoperation systems [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(5): 49-53 .
[10] ZHAO Jian-yu,JIA Lei,ZHU Wen-xing,YANG Li-cai . Design of fuzzy control for traffic signals of a urban arterial intersection [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 46-50 .
[11] HU Yu-jing,ZHANG Jian-hua,REN Sheng-feng,BAI Wen-feng . Intelligent control of the discharge gap during UVEDM [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 11-14 .
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!