Design and Simulation of Fractional Order PID Controller for An Inverted Pendulum System

被引：0

作者：

Jiang, Shuhua ^{[1
]}

Li, Mingqiu ^{[1
]}

Wang, Chunyang ^{[1
]}

机构：

[1] Changchun Univ Sci & Technol, Sch Elect & Informat Engn, Changchun, Jilin, Peoples R China

来源：

2017 IEEE INTERNATIONAL CONFERENCE ON MANIPULATION, MANUFACTURING AND MEASUREMENT ON THE NANOSCALE (3M-NANO) | 2017年

关键词：

inverted pendulum system; car's displacement; pendulum's angle; fractional order PI control; fractional order PID control;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The paper proposed the design scheme for a FOPID-based controller and implemented its simulation according to the non-linearity, multivariate, strong coupling and instability of the inverted pendulum system. First, the paper built a mathematical model for the system and derived the transfer function of the pendulum's angle and displacement of the car. The appropriate closed-loop dominant poles were selected to satisfy the frequency domain stable performance requirements for the given system and the system can get the desired dynamic performance and stability after stabilization. And the parameters of the fractional order controller were tuned with the horizontal phase algorithm at the cutoff frequency. Comparing simulation of the IOPID-based controller with that of the FOPID-based controller shows that the FOPID-based controller can achieve better control effect with small overshoot and fast convergence.

引用

页码：349 / 352

页数：4

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