Practical Tuning of Fractional Order Proportional and Integral Controller (II): Experiments

2007 ◽  
Author(s):  
Tripti Bhaskaran ◽  
YangQuan Chen ◽  
Gary Bohannan
Keyword(s):  
Heat Flow ◽  
Fractional Order ◽  
Experimental Results ◽  
The Novel ◽  
Flexible Joint ◽  
Flow Experiment ◽  
Integral Controller ◽  
Tuning Rules

This paper aims to apply the practical tuning procedure for fractional order proportional and integral controller (FO-PI) to two experimental platforms. The first platform is Quanser’s Heat Flow Experiment (HFE) and the second platform is the Quanser’s Rotary Flexible Joint (RFJ) Module. The fractional controllers in both cases have been digitally implemented using Oustaloup’s recursive approximation. The second system however can also be controlled with the Fractroller which uses the novel element Fractor. Practical issues are introduced and discussed and interesting experimental results are reported that could serve as sample applications of the proposed FO-PI tuning rules.

scholarly journals Design of fractional order 2-DOF PI controller for real-time control of heat flow experiment

2019 ◽  
Vol 22 (1) ◽  
pp. 215-228 ◽  
Author(s):  
Mohit Jain ◽  
Asha Rani ◽  
Nikhil Pachauri ◽  
Vijander Singh ◽  
Alok Prakash Mittal
Keyword(s):  
Heat Flow ◽  
Real Time ◽  
Fractional Order ◽  
Pi Controller ◽  
Real Time Control ◽  
Time Control ◽  
Flow Experiment

scholarly journals Fractional-Order Active Disturbance Rejection Controller for Motion Control of a Novel 6-DOF Parallel Robot

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Xinxin Shi ◽  
Jiacai Huang ◽  
Fangzheng Gao
Keyword(s):  
Motion Control ◽  
Fractional Order ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
The Novel ◽  
Linear Motors ◽  
Active Disturbance Rejection

A novel 6-degree-of-freedom (6-DOF) parallel robot driven by six novel linear motors is designed and controlled in this paper. Detailed structures of linear motors are illustrated. A control strategy based on kinematics of the 6-DOF parallel robot is used, and six linear motors are controlled to track their own desired trajectories under a designed fractional-order active disturbance rejection controller (FOADRC). Compared with the normal ADRC, two desired trajectories and three different working situations of a linear motor are simulated to show good performances of the FOADRC. Experimental results show that six linear motors can track their own desired trajectories accurately under payloads and disturbances, and the novel 6-DOF parallel robot can be controlled well.

Adaptive fractional-order control of electrical flexible-joint robots: Theory and experiment

2018 ◽  
Vol 233 (9) ◽  
pp. 1136-1145 ◽  
Author(s):  
Alireza Izadbakhsh ◽  
Payam Kheirkhahan
Keyword(s):  
Fourier Series ◽  
Fractional Order ◽  
Actuator Saturation ◽  
Nonlinear Effects ◽  
Experimental Results ◽  
Control Law ◽  
Fractional Order Control ◽  
Flexible Joint ◽  
Position Errors ◽  
Flexible Joint Robots

Real-time fractional-order control of electrically driven flexible-joint robots has been addressed in this article. An important contribution of this article is that the control law is designed based on the Fourier series that eliminates the need for computation of regressor matrix. Moreover, the nonlinear effects of actuator saturation are considered in the control law. The lumped uncertainty can be approximated using Fourier series with unknown coefficients. Then, the unknown coefficients are estimated using the adaptation law obtained in the stability analysis. The overall closed-loop system is proven to be robust and bounded-input bounded-output stable. In addition, it has been shown that the joint-position errors are uniformly bounded based on Lyapunov’s stability concept. The satisfactory performance of the proposed control scheme is verified by experimental results. To highlight the superiority of the proposed method, experimental results of two voltage-based controllers are also presented.

scholarly journals Fractional Order Linear ADRC-Based Controller Design for Heat-Flow Experiment

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Ubaid M. Al-Saggaf ◽  
Ibrahim M. Mehedi ◽  
Rachid Mansouri ◽  
Maamar Bettayeb
Keyword(s):  
Heat Flow ◽  
Fractional Order ◽  
Controller Design ◽  
Open Loop ◽  
Order System ◽  
Order Linear ◽  
Operational Conditions ◽  
Model Free ◽  
Flow Experiment ◽  
Intuitive Concept

Fractional order control (FOC) has received widespread attention in recent years due to its efficient tuning capacity, intuitive concept, and enough flexibility. Again, FOC are known to be robust with the open loop gain in particular. However, the design of FOC demands the knowledge of the model to be modified. But on the other hand, the linear active disturbance control (LADRC) technique is known to be model free controller. In order to achieve the better tracking performance even in uncertain operational conditions by responding timely against external disturbances, these two controllers (FOC and LADRC) are combined to propose a new fractional order LADRC to handle integer order system. Therefore, FOC-based LADRC for heat-flow experiment (HFE) is designed in this paper to track desired trajectories of heat flow. Bode’s ideal transfer function is considered as an orientation model to propose this new controller while using the concept of internal mode control. A better performance of fractional order linear active disturbance control (FO-LADRC) is shown for a very good disturbance rejection capability through simulation and experiments on a heat-flow system.

Practical Tuning of Fractional Order Proportional and Integral Controller (I): Tuning Rule Development

2007 ◽  
Author(s):  
Tripti Bhaskaran ◽  
YangQuan Chen ◽  
Dingyu Xue
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Companion Paper ◽  
First Order ◽  
Tuning Method ◽  
Peak Sensitivity ◽  
Integral Controller ◽  
Gain Optimization ◽  
Practical Nature ◽  
Tuning Rules

This paper presents a new practical tuning method for fractional order proportional and integral controller (FO-PI). The plant to be controlled is mainly FOPDT (first order plus delay time). The tuning is optimum in the sense that the load disturbance rejection is optimized yet with a constraint on the maximum or peak sensitivity. We generalized MIGO (Ms constrained integral gain optimization) based controller tuning method to handle the FO-PI case, called F-MIGO, given the fractional order α. The F-MIGO method is then used to develop tuning rules for the FOPDT class of dynamic systems. The final developed tuning rules only applies the relative dead time, τ of the FOPDT model to determine the best fractional order α and at the same time to determine the best FO-PI gains. Extensive simulation results are included to illustrate the simple yet practical nature of the developed new tuning rules. In Part (II) of this companion paper, interesting experimental results in two experimental platforms are reported using the tuning rule of this paper. The tuning rule development procedure for FO-PI is not only valid for FOPDT but also applicable for other general class of plants as illustrated.

scholarly journals A fractional-order model describing the dynamics of the novel coronavirus (COVID-19) with nonsingular kernel

2021 ◽  
Vol 146 ◽  
pp. 110859
Author(s):  
Ahmed Boudaoui ◽  
Yacine El hadj Moussa ◽  
Zakia Hammouch ◽  
Saif Ullah
Keyword(s):  
Fractional Order ◽  
The Novel ◽  
Order Model ◽  
Fractional Order Model ◽  
Novel Coronavirus

scholarly journals Identification of the State of Electrical Appliances with the Use of a Pulse Signal Generator

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 673
Author(s):  
Augustyn Wójcik ◽  
Piotr Bilski ◽  
Robert Łukaszewski ◽  
Krzysztof Dowalla ◽  
Ryszard Kowalik
Keyword(s):  
Measurement System ◽  
Cross Correlation ◽  
Pulse Signal ◽  
Signal Generator ◽  
Experimental Results ◽  
The Novel ◽  
End User ◽  
Standard Classification ◽  
Electrical Appliance

The paper presents the novel HF-GEN method for determining the characteristics of Electrical Appliance (EA) operating in the end-user environment. The method includes a measurement system that uses a pulse signal generator to improve the quality of EA identification. Its structure and the principles of operation are presented. A method for determining the characteristics of the current signals’ transients using the cross-correlation is described. Its result is the appliance signature with a set of features characterizing its state of operation. The quality of the obtained signature is evaluated in the standard classification task with the aim of identifying the particular appliance’s state based on the analysis of features by three independent algorithms. Experimental results for 15 EAs categories show the usefulness of the proposed approach.

scholarly journals A New No Equilibrium Fractional Order Chaotic System, Dynamical Investigation, Synchronization, and Its Digital Implementation

Inventions ◽  
2021 ◽  
Vol 6 (3) ◽  
pp. 49
Author(s):  
Zain-Aldeen S. A. Rahman ◽  
Basil H. Jasim ◽  
Yasir I. A. Al-Yasir ◽  
Raed A. Abd-Alhameed ◽  
Bilal Naji Alhasnawi
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Chaotic System ◽  
Real World ◽  
Experimental Results ◽  
Chaotic Attractors ◽  
State Variables ◽  
Digital Implementation ◽  
Dynamical Behaviors ◽  
Real World Applications

In this paper, a new fractional order chaotic system without equilibrium is proposed, analytically and numerically investigated, and numerically and experimentally tested. The analytical and numerical investigations were used to describe the system’s dynamical behaviors including the system equilibria, the chaotic attractors, the bifurcation diagrams, and the Lyapunov exponents. Based on the obtained dynamical behaviors, the system can excite hidden chaotic attractors since it has no equilibrium. Then, a synchronization mechanism based on the adaptive control theory was developed between two identical new systems (master and slave). The adaptive control laws are derived based on synchronization error dynamics of the state variables for the master and slave. Consequently, the update laws of the slave parameters are obtained, where the slave parameters are assumed to be uncertain and are estimated corresponding to the master parameters by the synchronization process. Furthermore, Arduino Due boards were used to implement the proposed system in order to demonstrate its practicality in real-world applications. The simulation experimental results were obtained by MATLAB and the Arduino Due boards, respectively, with a good consistency between the simulation results and the experimental results, indicating that the new fractional order chaotic system is capable of being employed in real-world applications.

Research on a Novel Miniature Air Compressor Generating both Compressed Air and Vacuum

2014 ◽  
Vol 1027 ◽  
pp. 253-256
Author(s):  
Jian Hai Han ◽  
Jie Zhang ◽  
Dong Liao Fu ◽  
Zhi Gang Hu
Keyword(s):  
Vacuum Pump ◽  
Operating Principle ◽  
Experimental Results ◽  
System Structure ◽  
Compressed Air ◽  
The Novel ◽  
Pump Mode ◽  
Air Compressor

A new kind of miniature air compressor is proposed in this paper. This compressor can produce both compressed air and vacuum. The system structure, operating principle and experimental characteristics of the novel miniature air compressor are described in detail. The experimental results prove that the shift between air compressor mode and vacuum pump mode is possible and the design of system structure is appropriate.

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