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Fractional-order Proportional Derivative Controller Tuning for Motion Systems

Part of the Advances in Industrial Control book series (AIC)

Abstract

In Chapter 5, we focused on fractional-order proportional integral controller tuning. The plants to be controlled are assumed to be FOPDT plants. In this chapter, we focus on fractional-order proportional derivative controllers, PD μ , for another class of plants that are very common in motion control applications. A new tuning method for PD μ controllers is proposed to ensure that specifications of gain crossover frequency and phase margin are fulfilled. Furthermore, the derivative of the phase in Bode plot of the open-loop system with respect to the frequency is forced to be zero at the given gain crossover frequency so that the closed-loop system is robust to gain variations. The design method proposed is practical and simple to apply. Simulation and experimental results show that the closed-loop system can achieve favorable dynamic performance and robustness.

Keywords

Position Response Phase Margin Tuning Method Controller Tune Unit Step Response 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 2010

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