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  • 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, "Fractional-order systems andPID controllers" ,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

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