An Experimental Tuning Approach of Fractional Order Controllers in the Frequency Domain
Source abstract
Abstract
Fractional calculus has been used intensely in recent years in control engineering to extend the capabilities of the classical proportional–integral–derivative (PID) controller, but most tuning techniques are based on the model of the process. The paper presents an experimental tuning procedure for fractional-order proportional integral–proportional derivative (PI/PD) and PID-type controllers that eliminates the need of a mathematical model for the process. The tuning procedure consists in recreating the Bode magnitude plot using experimental tests and imposing the desired shape of the closed loop system magnitude. The proposed method is validated in the field of active vibration suppression by using an experimental set-up consisting of a smart beam.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Advanced Control Systems Design · Extremum Seeking Control Systems · Hydraulic and Pneumatic Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Automation Department, Technical University of Cluj-Napoca, Cluj-Napoca 400114, Romania
Civil Engineering Department, Technical University of Cluj-Napoca, Cluj-Napoca 400114, Romania
Funding
Romanian National Authority for Scientific Research and Innovation, CNCS/CCCDI-UEFISCDI
References (39)
Show source-provided references
1. Aström, K.J., and Hägglund, T. (1995). PID Controllers: Theory, Design, and Tuning, Instrument Society of America. [2nd ed.].
2. de Souza, M.R.S.B., Murofushi, R.H., Tavares, J.P.Z.d.S., and Ribeiro, J. (2016). Comparison Among Experimental PID Auto Tuning Methods for a Self-balancing Robot. Robotics: 12th Latin American Robotics Symposium and Third Brazilian Symposium on Robotics, LARS 2015/SBR 2015, Uberlândia, Brazil, 28 October–1 November 2015, Springer International Publishing. Revised Selected Papers.10.1007/978-3-319-47247-8_5 ↗
3. Keyser, R.D., Maxim, A., Copot, C., and Ionescu, C.M. (2013, January 10–13). Validation of a multivariable relay-based PID autotuner with specified robustness. Proceedings of the 2013 IEEE 18th Conference on Emerging Technologies Factory Automation (ETFA), Cagliari, Italy.
4. A method for auto-tuning of PID control parameters10.1016/0005-1098(84)90047-5 ↗
5. Industrial test setup for autotuning of PID controllers in large-scale processes: Applied to Tennessee Eastman process10.1016/j.ifacol.2015.09.012 ↗
6. Revisiting the Ziegler–Nichols step response method for PID control10.1016/j.jprocont.2004.01.002 ↗
7. Automatic tuning of simple regulators with specifications on phase and amplitude margins10.1016/0005-1098(84)90014-1 ↗
8. Relay Feedback Tuning of Robust PID Controllers with Iso-damping Property10.1109/TSMCB.2004.837950 ↗
9. Vilanova, R., and Visioli, A. (2012). PID Control in the Third Millennium: Lessons Learned and New Approaches, Springer.10.1007/978-1-4471-2425-2 ↗
10. Chen, Y., Petras, I., and Xue, D. (2009, January 10–12). Fractional order control—A tutorial. Proceedings of the 2009 American Control Conference, St. Louis, MO, USA.10.1109/ACC.2009.5160719 ↗
11. Monje, C.A. (2010). Fractional-Order Systems and Controls: Fundamentals and Applications, Springer.10.1007/978-1-84996-335-0 ↗
12. Muresan, C.I., Birs, I.R., Folea, S., Dulf, E.H., and Prodan, O. (2016, January 13–15). Experimental results of a fractional order PDμ controller for vibration suppresion. Proceedings of the 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand.10.1109/ICARCV.2016.7838715 ↗
13. Birs, I.R., Folea, S., Copot, D., Prodan, O., and Muresan, C.I. (2016, January 17–18). Comparative analysis and experimental results of advanced control strategies for vibration suppression in aircraft wings. Proceedings of the 2016 13th European Workshop on advanced Control and Diagnosis, Lille, France.
14. Birs, I.R., Muresan, C.I., Folea, S., Prodan, O., and Kovacs, L. (2016, January 19–21). Vibration suppression with fractional-order PIλDμ controller. Proceedings of the 2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR), Cluj-Napoca, Romania.10.1109/AQTR.2016.7501365 ↗
15. Birs, I.R., Folea, S., and Muresan, C.I. (2017, January 3–6). An optimal fractional-order controller for vibration attenuation. Proceedings of the 2017 25th Mediterranean Conference on Control and Automation (MED), Valletta, Malta.10.1109/MED.2017.7984221 ↗
16. The CRONE Control of Resonant Plants: Application to a Flexible Transmission10.1016/S0947-3580(95)70014-0 ↗
17. State of the art survey: Active and semi-active suspension control10.1080/00423114.2015.1037313 ↗
18. Fractional order control strategies for power electronic buck converters10.1016/j.sigpro.2006.02.022 ↗
19. Fractional-Order Control of Hydraulically Powered Actuators: Controller Design and Experimental Validation10.1109/TMECH.2019.2894105 ↗
20. Robust fractional-order controller for irrigation main canal pools with time-varying dynamical parameters10.1016/j.compag.2011.01.018 ↗
21. Al-Dhaifallah, M., Kanagaraj, N., and Nisar, K.S. (2018). Fuzzy Fractional-Order PID Controller for Fractional Model of Pneumatic Pressure System. Math. Probl. Eng., 2018.10.1155/2018/5478781 ↗
22. Abdelbaky, M., El-Hawwary, M., and Emara, H. (2017, January 28–31). Implementation of fractional-order PID controller in an industrial distributed control system. Proceedings of the 2017 14th International Multi-Conference on Systems, Signals & Devices (SSD), Marrakech, Morocco.
23. Performance analysis of fractional order fuzzy PID controllers applied to a robotic manipulator10.1016/j.eswa.2013.12.030 ↗
24. On auto-tuning of fractional order PIλDμ controllers10.3182/20060719-3-PT-4902.00005 ↗
25. Auto-tuning of fractional lead-lag compensators10.3182/20050703-6-CZ-1902.00453 ↗
26. Auto-tuning of PID controller according to fractional-order reference model approximation for DC rotor control10.1016/j.mechatronics.2013.05.001 ↗
27. PID auto-tuning using new model reduction method and explicit PID tuning rule for a fractional order plus time delay model10.1016/j.jprocont.2013.11.010 ↗
28. Muresan, C., Keyser, R.D., Birs, I., Folea, S., and Prodan, O. (2017, January 27–29). An Autotuning Method for a Fractional Order PD Controller for Vibration Suppression. Proceedings of the 2017 International Workshop Mathematical Methods in Engineering (MME 2017), Ankara, Turkey.
29. A novel auto-tuning method for fractional order PI/PD controllers10.1016/j.isatra.2016.01.021 ↗
30. Gude, J.J., and Kahoraho, E. (2010, January 13–16). Modified Ziegler-Nichols method for fractional PI controllers. Proceedings of the 2010 IEEE 15th Conference on Emerging Technologies Factory Automation (ETFA 2010), Bilbao, Spain.10.1109/ETFA.2010.5641074 ↗
31. Tuning and auto-tuning of fractional-order controllers for industry applications10.1016/j.conengprac.2007.08.006 ↗
32. Vibration suppression using single neuron-based PI fuzzy controller and fractional-order disturbance observer10.1109/TIE.2006.888771 ↗
33. Onat, C., Şahin, M., and Yaman, Y. (2012). Fractional controller design for suppressing smart beam vibrations. Aircr. Eng. Aerosp. Technol.10.1108/00022661211237728 ↗
34. A novel fractional-order model and controller for vibration suppression in flexible smart beam10.1007/s11071-018-4207-0 ↗
35. A Comparison between Integer and Fractional Order PDμ Controllers for Vibration Suppression10.21042/AMNS.2016.1.00022 ↗
36. A fractional-order controller for vibration suppression of uncertain structures10.1016/j.isatra.2013.07.010 ↗
37. Vibration suppression using fractional-order disturbance observer based adaptive grey predictive controller
38. An optimized fractional order PID controller for suppressing vibration of AC motor10.21595/jve.2016.16652 ↗
39. An efficient algorithm for low-order direct discrete-time implementation of fractional order transfer functions10.1016/j.isatra.2018.01.026 ↗