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Robust fractional order PD based on vector methods μ Controller parameter tuning method

A μ controller and parameter tuning technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem that PD control cannot achieve satisfactory results, etc.

Active Publication Date: 2016-08-24
CHANGCHUN UNIV OF SCI & TECH
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Problems solved by technology

[0004] The present invention provides a robust fractional order PD based on a vector method μ The parameter tuning method of the controller to solve the problem that the conventional PD control cannot achieve satisfactory results due to the influence of uncertain factors in the existing methods

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  • Robust fractional order PD based on vector methods <sup>μ</sup> Controller parameter tuning method
  • Robust fractional order PD based on vector methods <sup>μ</sup> Controller parameter tuning method
  • Robust fractional order PD based on vector methods <sup>μ</sup> Controller parameter tuning method

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Embodiment Construction

[0028] Include the following steps:

[0029] (1) Given the mathematical model transfer function of the controlled object system And given the design index bandwidth ω c and the phase margin φ required to maintain stability m , the transfer function form of the controller to be tuned is C(s)=K p +K d the s μ ; Wherein, said T is a positive real number, s is a Laplacian operator, K p Indicates the proportional coefficient to be adjusted, K d Indicates the differential coefficient to be adjusted, μ indicates the differential order to be adjusted;

[0030] (2) The charged object Written in the vector form of the controlled object:

[0031] Controlled object vector angular velocity ψ P = - T ( Tω c ) 2 + 1 ...

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Abstract

The invention relates to a method for setting parameters of a robustness fractional order PD< mu > controller based on a vector quantity method, and belongs to the technical field of fractional order automatic control. A mathematic model transfer function of a controlled object system is given, a controlled object is written into a controlled object vector quantity mode, a performance index vector quantity mode is written out, a controlled object vector quantity P is corrected through a correction vector quantity L to reach a performance index vector quantity G, the correction vector quantity and a controller vector quantity form a triangle in a complex plane, and a differential coefficient to be set is obtained. The method can reduce calculated quantities, the setting process is simple and easy to understand, and when the controlled object is changed, users only need to calculate the module value, the phase angle and the angular speed of the controlled object, the following formula can be used indiscriminately, and therefore the process of repeatedly deducing an equation is reduced, and the multi-solution problem existing in matlab solutions is solved.

Description

technical field [0001] The invention belongs to the technical field of fractional order automatic control, and mainly relates to a PD μ A method for parameter tuning of structured robust fractional order controllers. Background technique [0002] PD (proportional-derivative) control is a widely used and mature control method in the field of automatic control. Because of its simple structure, easy implementation, and high reliability, it is widely used in industrial control processes such as process control and motion control. In the actual industrial control environment, there are often uncertain factors such as nonlinearity and time-varying nature, which make the traditional PD control method unable to achieve satisfactory results. Due to fractional order PD μ The controller has an additional adjustable parameter μ, so that the fractional order PD μ The controller can obtain better dynamic performance and robustness than the integer order PD controller. [0003] Also b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 王春阳蔡年春辛瑞昊樊斌尹高峰
Owner CHANGCHUN UNIV OF SCI & TECH
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