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Related Experiment Video

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A Modeling and Simulation Method for Preliminary Design of an Electro-Variable Displacement Pump

A Modeling and Simulation Method for Preliminary Design of an Electro-Variable Displacement Pump

Published on: June 1, 2022

Fractional order ultra low-speed position servo: improved performance via describing function analysis.

Ying Luo¹, Yangquan Chen, Youguo Pi

¹Department of Automation Science and Engineering, South China University of Technology, Guangzhou, China. ying.luo@ieee.org

ISA Transactions

|October 29, 2010

Summary

A new fractional order proportional and derivative (FOPD) controller offers superior performance in low-speed tracking systems with friction compared to traditional controllers. This study explains the theoretical reasons behind the FOPD controller

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Area of Science:

Control Systems Engineering
Nonlinear Dynamics
Robotics

Background:

Fractional order controllers offer advanced control capabilities.
Traditional integer order proportional integral (IOPI) controllers have limitations in nonlinear systems.
Previous work proposed a fractional order proportional and derivative (FOPD) controller with demonstrated performance benefits.

Purpose of the Study:

To theoretically explain the superior performance of the FOPD controller over the IOPI controller in low-speed position tracking with friction.
To provide a clear understanding of the underlying mechanisms driving the FOPD controller's advantage.

Main Methods:

Describing function method for nonlinear system analysis.
Bode plots analysis for frequency domain insights.
Experimental validation of theoretical findings.

Main Results:

The FOPD controller demonstrates significantly better tracking performance in ultra-low-speed position tracking with friction.
Theoretical analysis using describing functions and Bode plots elucidates the reasons for the FOPD controller's advantage.
Extended experimental results consistently validate the theoretical explanations.

Conclusions:

The FOPD controller provides a clear advantage over optimized IOPI controllers for nonlinear low-speed position tracking systems with friction.
Theoretical analysis confirms the robustness and effectiveness of the FOPD controller in challenging dynamic conditions.
This study offers a comprehensive understanding and validation of FOPD controller superiority in specific applications.