Horla Dariusz, Sadalla Talar
Poznan University of Technology, Faculty of Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, ul. Piotrowo 3a, 60-956 Poznan, Poland.
Poznan University of Technology, Faculty of Control, Robotics and Electrical Engineering, Institute of Robotics and Machine Intelligence, ul. Piotrowo 3a, 60-956 Poznan, Poland.
ISA Trans. 2020 Sep;104:287-298. doi: 10.1016/j.isatra.2020.05.022. Epub 2020 May 18.
This paper presents a new optimization-based tuning method for fractional- and integer-order controllers. The method is based on minimizing an arbitrary cost function which is taken here as the integrated absolute tracking error, and it can be used for tuning purposes as well as the assessment of controller performance. The presented results are obtained from experiments with a servo drive system with a 2- and 3-parameter fractional-order controller. They depict performance improvement and ability of the proposed method to find the global minimum of a selected performance index in experimental conditions. The method does not need any model of the plant, and it has great potential for applications in general controllers or for an extension to different parameter tuning problems. The method offers a new way of changing dynamic properties of closed-loop systems, by rapid tuning of controllers. This makes possible new applications of this method, as opposed to other tuning methods, which basically require knowledge of the plant.
本文提出了一种基于优化的分数阶和整数阶控制器调谐方法。该方法基于最小化一个任意代价函数，这里将其取为积分绝对跟踪误差，它可用于调谐目的以及控制器性能评估。给出的结果来自于对一个带有二参数和三参数分数阶控制器的伺服驱动系统的实验。它们描述了所提方法在实验条件下的性能提升以及找到选定性能指标全局最小值的能力。该方法不需要对象的任何模型，在通用控制器中或扩展到不同参数调谐问题方面具有很大的应用潜力。该方法通过快速调谐控制器提供了一种改变闭环系统动态特性的新途径。与其他基本上需要对象知识的调谐方法相比，这使得该方法有了新的应用。
