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A Fractional Order (Proportional and Derivative) Motion Controller Design for A Class of Second-order Systems Center for Self-Organizing Intelligent Systems.

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Presentation on theme: "A Fractional Order (Proportional and Derivative) Motion Controller Design for A Class of Second-order Systems Center for Self-Organizing Intelligent Systems."— Presentation transcript:

1 A Fractional Order (Proportional and Derivative) Motion Controller Design for A Class of Second-order Systems Center for Self-Organizing Intelligent Systems (CSOIS), Dep. Electrical and Computer Engineering, Utah State University, Logan, UT, USA. Ying Luo

2 2 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Order Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

3 3 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Order Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

4 4 Introduction In this work, practical and systemic design methods of integer order PID (IO-PID) controller, fractional order proportional and derivative (FO-PD) controller and fractional order (proportional and derivative) controller for a typical second-order plant are proposed. The control performances with the proposed two fractional order controllers and the traditional IO-PID controller which are all properly designed are compared fairly through the simulation and experiment. The two fractional order controllers can achieve much better dynamic performance and robustness over the traditional IO- PID controller. Furthermore, the proposed fractional order (proportional and derivative) (FO-(PD)) controller performances even better then the FO-PD controller.

5 5 Introduction The major contributions of this work include: 1) Practical and systemic design procedures of IO-PID, FOPD and FO-(PD) controllers for a class of typical second order plants; 2) Simulation fair comparison of performances with the proposed two fractional order controllers and the traditional IO-PID controller; 3) Experiment verification of the proposed FO-(PD) controller on the real-time dynamometer position control system; 4) Demonstration of the advantage of the FO-(PD) controller performing the simulation and experimental comparisons with the traditional IO-PID controller and the FO-PD controller.

6 6 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment Outline

7 7 Typical second-order system concerned and the specifications for the three controllers design

8 8

9 9

10 10 Typical second-order system concerned and the specifications for the three controllers design

11 11 Typical second-order system concerned and the specifications for the three controllers design

12 12 Typical second-order system concerned and the specifications for the three controllers design

13 13 Typical second-order system concerned and the specifications for the three controllers design

14 14 Typical second-order system concerned and the specifications for the three controllers design

15 15 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

16 16 Integer Order PID Controller Design

17 17 Integer Order PID Controller Design

18 18 Integer Order PID Controller Design

19 19 Integer Order PID Controller Design

20 20 Integer Order PID Controller Design

21 21 Integer Order PID Controller Design

22 22 Integer Order PID Controller Design

23 23 Integer Order PID Controller Design

24 24 Integer Order PID Controller Design

25 25 Integer Order PID Controller Design

26 26 Integer Order PID Controller Design

27 27 Integer Order PID Controller Design

28 28 Integer Order PID Controller Design

29 29 Integer Order PID Controller Design

30 30 Integer Order PID Controller Design

31 31 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

32 32 Fractional Order PD Controller Design

33 33 Fractional Order PD Controller Design

34 34 Fractional Order PD Controller Design

35 35 Fractional Order PD Controller Design

36 36 Fractional Order PD Controller Design

37 37 Fractional Order PD Controller Design

38 38 Fractional Order PD Controller Design

39 39 Fractional Order PD Controller Design

40 40 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

41 41 Fractional Order (PD) Controller Design

42 42 Fractional Order (PD) Controller Design

43 43 Fractional Order (PD) Controller Design

44 44 Fractional Order (PD) Controller Design

45 45 Fractional Order (PD) Controller Design

46 46 Fractional Order (PD) Controller Design

47 47 Fractional Order (PD) Controller Design

48 48 Fractional Order (PD) Controller Design

49 49 Fractional Order (PD) Controller Design

50 50 Fractional Order (PD) Controller Design

51 51 Fractional Order (PD) Controller Design

52 52 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

53 53 Implementation of Two Fractional Operators

54 54 Implementation of Two Fractional Operators

55 55 Implementation of Two Fractional Operators

56 56 Implementation of Two Fractional Operators

57 57 Implementation of Two Fractional Operators

58 58 Implementation of Two Fractional Operators

59 59 Implementation of Two Fractional Operators

60 60 Implementation of Two Fractional Operators

61 61 Implementation of Two Fractional Operators

62 62 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

63 63 Simulation

64 64 Simulation

65 65 Simulation

66 66 Simulation

67 67 Simulation

68 68 Simulation

69 69 Simulation

70 70 Simulation

71 71 Simulation

72 72 Simulation

73 73 Simulation

74 74 Simulation

75 75 Simulation

76 76 Simulation

77 77 Simulation

78 78 Simulation

79 79 Simulation

80 80 Simulation

81 81 Simulation

82 82 Simulation

83 83 Simulation

84 84 Simulation

85 85 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

86 86 Experiment

87 87 Experiment

88 88 Experiment

89 89 Experiment

90 90 Experiment

91 91 Experiment

92 92 I.Introduction II.Typical second-order system concerned and the specifications for the three controllers design III.Integer Order PID Controller Design IV.Fractional Order PD Controller Design V.Fractional Order (PD) Controller Design VI.Implementation of Two Fractional Operators for Two Fractional Order Controllers VII.Simulation VIII.Experiment IX.Conclusion Outline

93 93 Conclusion

94 94 Thanks for your attention !


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