强大的最佳分数顺序比例整数和比例导数控制器设计,用于集成具有时间延迟的系统:对四旋翼机实时应用
Fadi Alyoussef1, Ayman Abdallah2, Ashraf Farahat3
1Interdisciplinary Research Center for Aviation and Space Exploration, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia.
ISA transactions
|November 7, 2025
概括
本研究介绍了一个强大的分数顺序控制器设计,使用双测试器来提高稳定性. 与现有方法相比,该方法显著改善了干扰排斥和参数变化阻力.
科学领域:
- 控制工程 控制工程 控制工程
- 系统理论 系统理论
- 应用数学 应用数学 应用数学
背景情况:
- 分数顺序控制器提供了增强的性能,但需要强大的设计方法.
- 现有的分数顺序比例积分和比例导数 (FOPI-PD) 控制器可能对干扰和参数变化敏感.
- 稳固性对于在现实应用中可靠的控制器性能至关重要.
研究的目的:
- 为使用双相和增益边际测试器的FOPI-PD控制器提出一个强大的设计.
- 为拟议的FOPI-PD控制器进行校准制定调规则.
- 为了优化控制器参数和Oustaloup的近似参数,使用修改的coati优化算法 (COA).
主要方法:
- 在FOPI-PD控制器的内部和外部循环中实施双相和增益边缘测试器.
- 导出调整规则用于控制器校准.
- 使用修改后的COA,对正域进行重新设计的利用阶段,以优化控制器和Oustaloup参数.
- 在强稳定区域内限制COA优化.
主要成果:
- 与使用单个测试器的PI-PD控制器相比,相差至少提高了10°.
- 在模拟和实时评估中显著提高了对参数变化和干扰的抵抗力.
- 通过同时设计控制器和近似参数,提高了控制器的跟踪能力.
结论:
- 拟议的强大的FOPI-PD控制器设计提高了稳定性和对抗干扰的性能.
- 修改后的COA提供了一种有效的方法来优化分数顺序控制器参数.
- 这些发现证实了拟议方法在强大的控制应用中优于当前方法的优越性.
相关概念视频
01:24PI Controller: Design
1.1K
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
1.1K
01:27Time and frequency -Domain Interpretation of PI Control
386
Proportional-Integral (PI) controllers are essential in many control systems to improve stability and performance. They are commonly used in everyday devices like thermostats to enhance system damping and reduce steady-state error. When the zero in the controller's transfer function is optimally placed, the system benefits significantly in terms of stability and accuracy.
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires...
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires...
386
01:26PD Controller: Design
599
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
599
01:19PID Controller
634
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
634
01:07Time-Domain Interpretation of PD Control
356
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
356
01:22Controller Configurations
342
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
342