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A Fractional Order PID Controller Tuning Method for the System with Uncertain Parameters of the Controlled Object

A technology with uncertain parameters and controlled objects, which is applied in the general control system, control/regulation system, adaptive control, etc., can solve the problem of reducing the performance of the control system and achieve the effect of optimizing the dynamic performance of the system

Inactive Publication Date: 2017-05-10
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] However, in practical applications, most of the actual control object parameters are not accurate, and there are certain uncertainties, which will reduce the performance of the control system. Therefore, when designing the controller, the system uncertainty is It must be considered that an effective method is needed to perform parameter tuning for parameter uncertain systems

Method used

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  • A Fractional Order PID Controller Tuning Method for the System with Uncertain Parameters of the Controlled Object
  • A Fractional Order PID Controller Tuning Method for the System with Uncertain Parameters of the Controlled Object
  • A Fractional Order PID Controller Tuning Method for the System with Uncertain Parameters of the Controlled Object

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Embodiment

[0051] Specifically, according to the Kharitonov theory, the specific steps of decomposing a fractional-order parameter uncertain system into several parameter-determined subsystems are as follows:

[0052] For a given closed-loop system, its closed-loop transfer function is:

[0053]

[0054] G(s) represents the controlled object, which is a generalized parameter uncertain time-delay system. Its differential order can be any order, not limited to integers, and its parameters can vary within a certain range. The transfer function is as follows:

[0055]

[0056] in, r=0,1,2,…,n, is the time delay parameter of the system, and at the same time, β n >…>β 1 >β 0 ≥0,α n >…>α 1 >α 0 ≥0 and any real number.

[0057] C(s) represents fractional PI λ D μ The controller, its transfer function is as follows:

[0058]

[0059] Substituting equations (2) and (3) into (1), the characteristic polynomial of the closed-loop system is written as:

[0060] Ψ(s)=s λ D(s)+(k...

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Abstract

The invention discloses a method for setting a fractional-order PID (proportion, integration and differentiation) controller for a parameter uncertainty system which is a controlled object. The fractional-order PID controller is applied to the parameter uncertainty system which is the controlled object. The method is used for optimally setting to-be-set parameters of the fractional-order PID controller, and includes firstly determining stability regions of parameters of the system; secondly, determining frequency and parameter variation ranges of the stability regions of the parameters of the system; thirdly, optimally setting the parameters of the controller by a genetic algorithm. The method for setting the parameters of the fractional-order PID controller on the basis of the parameter uncertainty system has the advantages that the parameters of the fractional-order controller can be effectively set when the controlled object is the parameter uncertainty system, the dynamic performance of the system can be optimized, and the fractional-order controller can realize a good control effect and is excellent in dynamic performance.

Description

technical field [0001] The invention relates to a fractional-order PID controller tuning method, in particular to a fractional-order PID controller tuning method based on a parameter uncertainty system. Background technique [0002] Because of its simple structure, strong robustness and easy parameter tuning, PID controller has become the most widely used controller in the field of industrial control. For some systems with fractional-order characteristics, traditional PID control is difficult to obtain satisfactory control performance, while the more general fractional-order PI in form and algorithm λ D μ The controller has gradually become a research hotspot in the field of control, and has achieved a series of remarkable results. [0003] At present, the research on fractional-order controllers mainly focuses on fractional-order PI. λ or PI λ D μ Controller design, parameter tuning and stability domain analysis. In 1978, Serdar first proposed a solution to determine ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 王昕吴婧璇
Owner SHANGHAI JIAO TONG UNIV
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