期刊
IEEE ACCESS
卷 8, 期 -, 页码 103500-103510出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.2996265
关键词
Transfer functions; Robustness; Gain; Control systems; Tuning; Analytical models; Design methodology; Fractional order PID controller; time-delay system; Bode's ideal transfer function; bode shaping
资金
- Promotion Program for Young and Middle-Aged Teachers in Science and Technology Research of Huaqiao University [ZQNPY408, Z14Y0002]
- Natural Science Foundation of Fujian Province [2019J01053]
- Science and Technology Plan Projects of Quanzhou City [2015Z123]
This paper proposes a design method for a robust fractional-order PID (FOPID) controller for time-delay systems. A new Bode's ideal transfer function is introduced to tolerance the time-delay in loop. Robust stability is analyzed for the Bode's model in terms of gain and phase margins to help the parameter tuning. To simplify FOPID design from solving nonlinear equations, five unknown parameters are reduced to one in the Bode shaping by data fitting between a parametric model and the real plant. Then, the problem is simply solved by one-dimensional searching. Furthermore, the proposed FOPID controller design is extended to multi-input and multi-output (MIMO) systems by using disturbance observer (DOB). Finally, simulation results are presented to show the effectiveness of the proposed method.
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