Fractional order PIλDμcontroller design for satisfying time and frequency domain specifications simultaneously.
In order to achieve a desired control performance characterized by satisfying specifications in both frequency-domain and time-domain simultaneously, an optimal fractional order proportional integral derivative (PIλDμ) controller design strategy is proposed based on analytical calculation and Differential Evolution algorithm for a permanent magnet synchronous motor (PMSM) servo system in this paper. In this controller design, the frequency-domain specifications can guarantee the system stability with both gain margin and phase margin, and also the system robustness to loop gain variations. The time-domain specifications can ensure the desired step response performance with rapid rising curve, constrained overshoot, and proper power consuming. Compared with the PIλcontroller and the traditional PID controller, PIλDμcontroller can get obvious benefits from two more degrees of freedom of the fractional orders λ and μ on satisfying multiple constraints simultaneously and achieving better servo tracking performance for the PMSM servo system. PMSM speed tracking simulations and experiments are demonstrated to show the significant advantages of using the proposed optimal PIλDμcontroller over the optimal fractional order PIλcontroller and traditional integer order PID controller.
(a)School of Automation, Foshan University, Foshan, China; (b)School of Automation Science and Engineering, South China University of Technology, Guangzhou, China.
WeiJia
W
Zheng
(a)School of Automation, Foshan University, Foshan, China; (c)School of Engineering, University of California, Merced, 5200 North Lake Road, Merced, CA, USA.
Ying
Y
Luo
(b)School of Automation Science and Engineering, South China University of Technology, Guangzhou, China.
XiaoHong
X
Wang
(b)School of Automation Science and Engineering, South China University of Technology, Guangzhou, China.
YouGuo
Y
Pi
(c)School of Engineering, University of California, Merced, 5200 North Lake Road, Merced, CA, USA.
YangQuan
Y
Chen
Differential Evolution algorithm; Fractional order PI(λ)D(μ) controller design; PMSM servo system