Dwivedi Prakash, Pandey Sandeep, Junghare A S
Department of Electrical Engineering, National Institute of Technology, Uttarakhand, India.
Department of Electrical Engineering, Visvesvaraya National Institute of Technology, Nagpur, India.
ISA Trans. 2018 Apr;75:189-206. doi: 10.1016/j.isatra.2018.01.028. Epub 2018 Feb 17.
A rotary single inverted pendulum (RSIP) typically represents a space booster rocket, Segway and similar systems with unstable equilibrium. This paper proposes a novel two degree of freedom (2-DOF) fractional control strategy based on 2-loop topology for RSIP system which can be extended to control the systems with unstable equilibrium. It comprises feedback and feed-forward paths. Primary controller relates the perturbation attenuation while the secondary controller is accountable for set point tracking. To tune the parameters of proposed fractional controller a simple graphical tuning method based on frequency response is used. The study will serve the outstanding experimental results for both, stabilization and trajectory tracking tasks. The study will also serve to present a comparison of the performance of the proposed controller with the 1-DOF FOPID controller and sliding mode controller (SMC) for the RSIP system. Further to confirm the usability of the proposed controller and to avoid the random perturbations sensitivity, robustness, and stability analysis through fractional root-locus and Bode-plot is investigated.
旋转单倒立摆（RSIP）通常代表太空助推火箭、赛格威及类似具有不稳定平衡的系统。本文针对RSIP系统提出了一种基于双环拓扑的新型二自由度（2-DOF）分数阶控制策略，该策略可扩展用于控制具有不稳定平衡的系统。它包括反馈和前馈路径。主控制器负责扰动衰减，而副控制器负责设定点跟踪。为了调整所提出的分数阶控制器的参数，使用了一种基于频率响应的简单图形调整方法。该研究将为稳定和轨迹跟踪任务提供出色的实验结果。该研究还将对所提出的控制器与用于RSIP系统的一自由度FOPID控制器和滑模控制器（SMC）的性能进行比较。此外，为了确认所提出控制器的可用性并避免随机扰动敏感性，通过分数阶根轨迹和伯德图对其进行了鲁棒性和稳定性分析。
