We study vortex states and dynamics in two-dimensional (2D) superconductors with periodic pinning at fractional submatching fields using numerical simulations. For square pinning arrays we show that ordered vortex states form at 1/1,1/2, and 1/4 filling fractions while only partially ordered states form at other tilling fractions, such as 1/3 and 1/5, in agreement with recent imaging experiments. For triangular pinning arrays we observe matching effects at filling fractions of 1/1, 6/7, 2/3, 1/3, 1/4, 1/6, and 1/7. For both square and triangular pinning arrays we also find that, for certain submatching fillings, vortex configurations depend on pinning strength. For weak pinning, ordering in which a portion of the vortices are positioned between pinning sites can occur. Depinning of the vortices at the matching fields, where the vortices are ordered, is elastic while at the incommensurate fields the motion is plastic. At the incommensurate fields, as the applied driving force is increased, there can be a transition to elastic flow where the vortices move along the pinning sites in 1D channels and a reordering transition to a triangular or distorted triangular lattice occurs. We also discuss the current-voltage curves and how they relate to the vortex ordering at commensurate and incommensurate fields.
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