Title :
Fractional order PID control of a DC-motor with elastic shaft: a case study
Author :
Xue, Dingyu ; Zhao, Chunna ; Chen, YangQuan
Author_Institution :
Fac. of Inf. Sci. & Eng., Northeastern Univ., Shenyang
Abstract :
In this paper, a fractional order PID controller is investigated for a position servomechanism control system considering actuator saturation and the shaft torsional flexibility. For actually implementation, we introduced a modified approximation method to realize the designed fractional order PID controller. Numerous simulation comparisons presented in this paper indicate that, the fractional order PID controller, if properly designed and implemented, will outperform the conventional integer order PID controller
Keywords :
DC motors; control system synthesis; machine control; realisation theory; robust control; three-term control; DC-motor; actuator saturation; control design; elastic shaft; fractional order PID control; fractional order calculus; position servomechanism control system; robustness; shaft torsional flexibility; Calculus; Computer aided software engineering; Control systems; Error correction; Information science; Mathematical model; Robust control; Servomechanisms; Shafts; Three-term control;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657207
