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### Transcript

• 1. A Seminar On FRACTIONAL ORDER PID TUNING
• 2. OUTLINE
• Introduction
• Fractional order sytem
• physical system
• fractional order control and fractional calculus
• Fractional differential equations
• FOPID
• Advantages of fractional order pid control
• Applications of FOPID
• FOPID tuning methods
• FOPID tuning using taylor series method
• References
• 3. INTRODUCTION
• A  controller  is a device which monitors and affects the operational conditions of a given dynamic system
• A  proportionalintegralderivativecontroller  ( PID controller ) is a generic control loop  feedback mechanism
• 4. FRACTIONAL ORDER SYSTEM G(s) is trnsfer function of the controlled system Gc(s) is the transfer function of the controller W(s) is input , E(s) is an error , U(s) is controller’s output Y(s) is system’s output Physical system
• 5.
• Fractional order control  or ( FOC ) isa field of control that uses
•   fractional order integrator as part of the control system design toolkit
• Fractional calculus   studies the possibility of taking  real number powers or  complex number powers of the differentiation operator
• Fractional differential equations  are a generalization of differential equations  .
• 6. FOPID
• Substituting integer-order operators by fractional-order
• ones, the FPID controller with transfer function :
• grows up. The FPID controller as so as the classical PID behaves as a band stop filter.
• 7. ADVANTAGES OF FRACTIONAL ORDER PID CONTROL
• The main advantages of introducing FOC to control design are:
• More adequate modeling of dynamic systems
• More clear-cut robust control design
• Advantages of fractional order PID
• Better for fractional systems
• simplicity and compactness
• 8. APPLICATIONS OF FOPID
• 1. MOTOR AND GEAR
• 9.
• 5.2 PRECISION ACTUATOR
• 10. FOPID TUNING METHODS
• Frequency gain method based on expected gain crossover frequency
• Pole distribution methods
• Tuning based on genetic algorithm
• Particle swarm optimization
• Taylor series
• 11. FOPID TUNING USING TAYLOR SERIES EXPANSION
• This method is based on Taylor series of both actual and
• desired closed-loop transfer function.
• The design parameters of controller are used for matching the same order terms of both desired and actual closed-loop response
• 12.
• FOPID controller has two design parameters, ,λ and µ , morethan PID controller
• Thus two more terms in Taylor series are used to match closed-loop response to desireresponse
• This causes increasing accuracy in tracking the desired response rather than using PID controller
• 13. REFERENCES
• Igor Podlubny, &quot;Fractional-order systems andPID controllers&quot; ,IEEE Transactions on Automatic Control, Vol 44, No. 1, pp.208–213, JANUARY 1999.
• Deepyaman Maiti and Amit Konar IEEE Sponsored Conference on Computational Intelligence ,Control And Computer Vision In Robotics & Automation© IEEE CICCRA 2008149Approximation of a Fractional Order System by an Integer Order Model Using Particle Swarm Optimization Technique.
• YangQuanChen_,1UBIQUITOUSFRACTIONAL ORDER CONTROLS_Center Self-Organizing and Intelligent Systems(CSOIS), Department of Electrical and Computer Eng
• WIKIPEDIA
• STEPPANOPALOUS “CHEMICAL PROCESS CONTROL”
•
• 14.
• 15.
• THANK YOU