Swapnil W. Khubalkar

Design and Realization of Stand-Alone Digital Fractional Order PID Controller for Buck Converter Fed DC Motor

The aim of paper is to employ digital fractional order proportional integral derivative (FO-PID) controller for speed control of buck converter fed DC motor. Optimal pole-zero approximation method in discrete form is proposed for realization of digital fractional order controller. The stand-alone controller is implemented on embedded platform using digital signal processor TMS320F28027. The five tuning parameters of controller enhance the performance of control scheme. For tuning of the controller parameters, dynamic particle swarm optimization technique is employed. The proposed control scheme is simulated on MATLAB and verified by experimental results. Performance comparison shows better speed control of separately excited DC motor with the realized digital FO-PID controller than that of the integer order PID controller.

Design and tuning of fractional order PID controller for speed control of permanent magnet brushless DC motor

This paper deals speed control of a Permanent Magnet Brushless Direct Current (PMBLDC) Motor using Fractional Order PID (FO-PID) controller tuned with different algorithms for PMBLDC motor. The inherent advantages of the FO-PID over conventional are its added fractions variables. The FO-PID controller is a generalized form of PID controller in which order of integration (I) and differentiation is any real number. It is shown that the proposed controller, which has five independent parameters (Kp, Ki, Kd, λ, μ) to tune, provides a powerful framework to control PMBLDC motor. The gain of PID controller is obtained by conventional methods of Ziegler-Nicholas (ZN), Cohen Coon (CC) and Amstron-Hagglund (AH). The Oustaloups method is used to approximate the fractional order. Integration (s-λ) and differentiation (sμ) order is tuned using Nelder-Mead (NM), Interior point (IP) and Active set (AS) algorithm. The controller analysis is presented with the plant to ascertain the performance of the PMBLDC motor. Improvement in transient performance of the system using FO-PID controller is observed in the comparative results.

Fractional order speed controller for buck-converter fed DC motor

The speed control of the DC motor fed through buck-converter is generally employed with conventional integer order PID. The closed loop speed control of these drives are prone to deteriorate in their performance over a period of time. This paper proposes the fractional order (FO) PID speed controller with DC motor. The feasibility of more tuning parameters enhances the performance. Oustaloups approximation method is used to approximate the fractional order differentiator and integrator. This controller performances are tested in the simulation mode.

Demonstrative fractional order – PID controller based DC motor drive on digital platform

In industrial drives applications, fractional order controllers can exhibit phenomenal impact due to realization through digital implementation. Digital fractional order controllers have created wide scope as it possess the inherent advantages like robustness against the plant parameter variation. This paper provides brief design procedure of fractional order proportional-integral-derivative (FO-PID) controller through the indirect approach of approximation using constant phase technique. The new modified dynamic particle swarm optimization (IdPSO) technique is proposed to find controller parameters. The FO-PID controller is implemented using floating point digital signal processor. The building blocks are designed and assembled with all peripheral components for the 1.5kW industrial DC motor drive. The robust operation for parametric variation is ascertained by testing the controller with two separately excited DC motors with the same rating but different parameters.

Unique fractional calculus engineering laboratory for learning and research

In this paper, a novel prototype laboratory is presented for engineering education, in which experiments are based on the fractional calculus. The prototypes of analog and digital fractional-order proportional-integral-derivative (PID) controllers are built in the laboratory. These fractional-order PID controllers are applied to linear and nonlinear plants to demonstrate the effectiveness of fractional-order calculus in real time. These experiments are designed, developed, and implemented on the analog and digital platforms. These controllers are integrated to control the DC motor, brushless DC motor, and magnetic levitation modules through hardware-in-loop as well as stand-alone systems. The analog type of fractional-order PID implementation is carried out by using passive components (i.e. resistances and capacitances) with an operational amplifier. However, real-time digital implementation is carried out using field-programmable gate array and digital signal processor. This paper describes how the experiments on fractional calculus can be tailored for graduate, undergraduate students’ education and extended for research in this emerging area.

Energy/Fuel Efficient and Enhanced Robust Systems Demonstrated with Developed Fractional Order PID Controller

In this brief article, the design and implementation of Fractional Order Proportional-Integral-Derivative (FOPID) controller is presented in analog and digital domains. Here we show the measured results for energy/fuel efficiency and enhanced robustness, as compared to classical PID controls. The FOPID controller is tested with DC-Motor, Magnetic Levitation System, and Brushless DC Motor, that we report in this article.