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Novel Fractional Order PD<SUP>μ</SUP> Controller for Open-Loop Unstable Inverted Pendulum System
Prakash Dwivedi,Sandeep Pandey,Anjali Junghare 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
The single link rotary inverted pendulum (SLRIP) is a single input multi output open loop unstable system. Several control strategies have been reported in the literature to intensify the performance of it. The present paper attempts to explore a method to stabilize a pendulum link in upright position with a focus to minimize the deviation in rotational arm. The parameters of proposed fractional controller is obtained by a simple tuning technique which comprises analytical computations as well as graphical procedure to tune the fractional parameters. The usability of the proposed controller are verified through the experimental implementation and fractional stability analysis.
Sandeep Pandey,Prakash Dwivedi,Anjali Junghare 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
In this paper an attempt is made to design and simulate a fractional integral state predictor anti-windup scheme with fractional order PID controller for first order plus time delayed system (FOPDT). This scheme improves the performance of the system, which is subjected to actuator saturation and change in load. In the present work it is shown that, the anti-windup fractional order PID controller improves set-point tracking performance of FOPDT system. Amongst various methods of anti-windup fractional integral state predictor scheme is suggested here .The performance of the system is compared using this method and conventional anti-windup method. A comparison of performance of the system, when using suggested method and the other conventional anti-windup method, is presented. The scheme is designed and tested on FOPDT transfer function of AC variable speed motor drive using Matlab/Simulink. The performance indices ISE, and control effort is observed to be minimized while using the proposed method.