Title: Feedback-Feedforward Position and Speed Control of DC Motors by Fractional-Order PI^{\nu} Controllers
Authors: Lino, Paolo
Königsmarková, Jana
Maione, Guido
Citation: LINO, P., KÖNIGSMARKOVÁ, J., MAIONE, G. Feedback-Feedforward Position and Speed Control of DC Motors by Fractional-Order PI^{\nu} Controllers. In: Conference Proceedings- IEEE International Conference on Systems, Man and Cybernetics. New York: IEEE Inc., 2019. s. 2584-2589. ISBN 978-1-72814-569-3 , ISSN 1062-922X.
Issue Date: 2019
Publisher: IEEE Inc.
Document type: konferenční příspěvek
URI: 2-s2.0-85076735122
ISBN: 978-1-72814-569-3
ISSN: 1062-922X
Keywords in different language: Fractional-Order PI controllers, Position Control, Speed Control, Feedback algorithm, DC Motors
Abstract: This paper proposes a double loop control scheme for position and speed control of a DC motor, which employs fractional-order PIn controllers. The design of the controllers requires the setting of six parameters, i.e. for each controller the proportional gain and the integral time constant, and the noninteger order of integration. To this aim, closed-form tuning formulas are derived to fulfil the required frequency domain specifications. The general formulation of the problem allows extending the tuning formulas explicitly to a wide class of systems. Then, it is shown how to introduce a feed-forward action to improve trajectory tracking performance. Finally, it is derived an equivalent fractional order controller, reducing the nested loops to a single control loop, and simplifying the control architecture. Simulation results show the effectiveness of the proposed approach, even in the presence of plant nonlinearities.
Rights: Plný text není přístupný.
© IEEE Inc.
Appears in Collections:Konferenční příspěvky / Conference Papers (KKY)
Konferenční příspěvky / Conference papers (NTIS)

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Please use this identifier to cite or link to this item: http://hdl.handle.net/11025/36674

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