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

Area of Science:

• Control Systems Engineering
• Electrical Engineering
• Mechatronics

Background:

• Fractional order controllers offer enhanced robustness in industrial drive applications.
• Digital implementation of these controllers provides significant advantages, particularly against plant parameter variations.

Purpose of the Study:

• To present a design procedure for a fractional order proportional-integral-derivative (FO-PID) controller.
• To introduce a novel modified dynamic particle swarm optimization (IdPSO) technique for controller parameter tuning.
• To validate the controller's robust performance in an industrial DC motor drive system.

Main Methods:

• Indirect approximation using the constant phase technique for FO-PID controller design.
• Utilization of the modified dynamic particle swarm optimization (IdPSO) for determining controller parameters.
• Digital implementation of the FO-PID controller on a floating-point digital signal processor for a 1.5kW DC motor drive.

Main Results:

• The FO-PID controller was successfully designed and implemented for a 1.5kW industrial DC motor drive.
• Robust operation was confirmed through testing with two DC motors of identical rating but differing parameters.
• The IdPSO technique effectively optimized the controller parameters for robust performance.

Conclusions:

• The proposed FO-PID controller, designed via indirect approximation and optimized with IdPSO, demonstrates robust performance in industrial DC motor drives.
• Digital implementation on a DSP allows for practical application of fractional order control strategies.
• The controller's resilience to parameter variations highlights its suitability for real-world industrial applications.