Fractional-order controllers for mechatronics and automotive applications
-
Paolo Lino
Abstract
This chapter proposes an approach to design fractional-order controllers for systems that are very common in applications. Namely, in many cases, simple models of the controlled systems are used. In particular, a first-order lag plus time delay system is a typically employed model. Then fractional-order controllers can be employed to improve the tradeoff between robustness and performance of the considered control loop. In particular, the controller structure is based on a noninteger-order integration that replaces the classical integer-order one in PI/PID controllers. In this way, control design can take advantage of the order of integration, which is a noninteger number, and develop relatively easy-to-use rules to set the other controller parameters. This chapter surveys a frequency-domain, loop-shaping design approach that allows to set the controller and meet desired robustness and performance specifications. The settings directly relate specifications to the parameters. Moreover, the design is completed by a realization procedure that easily determines the rational transfer function necessary to approximate the irrational compensator. The characteristics of the proposed realization technique is guaranteeing not only stability and minimumphase properties of the controller but also the interlacing between zeros and poles of the approximating function. The approach is tested on two case-study systems: a DCservomotor very useful in mechatronics and the injection system of a compressed natural gas engine developed in industry.
Abstract
This chapter proposes an approach to design fractional-order controllers for systems that are very common in applications. Namely, in many cases, simple models of the controlled systems are used. In particular, a first-order lag plus time delay system is a typically employed model. Then fractional-order controllers can be employed to improve the tradeoff between robustness and performance of the considered control loop. In particular, the controller structure is based on a noninteger-order integration that replaces the classical integer-order one in PI/PID controllers. In this way, control design can take advantage of the order of integration, which is a noninteger number, and develop relatively easy-to-use rules to set the other controller parameters. This chapter surveys a frequency-domain, loop-shaping design approach that allows to set the controller and meet desired robustness and performance specifications. The settings directly relate specifications to the parameters. Moreover, the design is completed by a realization procedure that easily determines the rational transfer function necessary to approximate the irrational compensator. The characteristics of the proposed realization technique is guaranteeing not only stability and minimumphase properties of the controller but also the interlacing between zeros and poles of the approximating function. The approach is tested on two case-study systems: a DCservomotor very useful in mechatronics and the injection system of a compressed natural gas engine developed in industry.
Kapitel in diesem Buch
- Frontmatter I
- Preface V
- Contents VII
- Nonlinear control methods 1
- Dynamical properties of fractional models 29
- Modified versions of the fractional-order PID controller 57
- H∞ and H2 control of fractional models 73
- Stability analysis of discrete time distributed order LTI dynamic systems 101
- Continuous-time fractional linear systems: transient responses 119
- Continuous-time fractional linear systems: steady-state responses 149
- State space methods for fractional controllers design 175
- Posicast control of fractional-order systems 201
- FOMCON toolbox for modeling, design and implementation of fractional-order control systems 211
- FOTF Toolbox for fractional-order control systems 237
- Fractional-order controllers for mechatronics and automotive applications 267
- Fractional-order modeling and control of selected physical systems 293
- Control of a soft robotic link using a fractional-order controller 321
- Fractional-order precision motion control for mechatronic applications 339
- Development of fractional-order analog integrated controllers – application examples 357
- Synchronizations in fractional complex networks 379
- New trends in synchronization of fractional-order chaotic systems 397
- Index 423
Kapitel in diesem Buch
- Frontmatter I
- Preface V
- Contents VII
- Nonlinear control methods 1
- Dynamical properties of fractional models 29
- Modified versions of the fractional-order PID controller 57
- H∞ and H2 control of fractional models 73
- Stability analysis of discrete time distributed order LTI dynamic systems 101
- Continuous-time fractional linear systems: transient responses 119
- Continuous-time fractional linear systems: steady-state responses 149
- State space methods for fractional controllers design 175
- Posicast control of fractional-order systems 201
- FOMCON toolbox for modeling, design and implementation of fractional-order control systems 211
- FOTF Toolbox for fractional-order control systems 237
- Fractional-order controllers for mechatronics and automotive applications 267
- Fractional-order modeling and control of selected physical systems 293
- Control of a soft robotic link using a fractional-order controller 321
- Fractional-order precision motion control for mechatronic applications 339
- Development of fractional-order analog integrated controllers – application examples 357
- Synchronizations in fractional complex networks 379
- New trends in synchronization of fractional-order chaotic systems 397
- Index 423
