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

共 50 条

[41] Control of an inverted pendulum using MODE-based Optimized LQR controller [J].

Tijani, Ismaila B. ;

Akmeliawati, Rini ;

Abdullateef, Ayodele I. .

PROCEEDINGS OF THE 2013 IEEE 8TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2013, :1759-1764

[42] Simulated Annealing Based Control of an Inverted Pendulum System [J].

Jaleel, J. Abdul ;

Francis, Riya Mary .

2013 INTERNATIONAL CONFERENCE ON CONTROL COMMUNICATION AND COMPUTING (ICCC), 2013, :204-209

[43] A novel adaptive fuzzy control of the inverted pendulum system [J].

Geng, Feng ;

Zhu, Xiaoping .

2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7, 2007, :2776-+

[44] Effect of a fractional-order PID controller on the dynamical response of a linear single degree-of-freedom oscillator [J].

Niu J. ;

Shen Y. ;

Yang S. ;

Li S. .

Zhendong yu Chongji/Journal of Vibration and Shock, 2016, 35 (24) :88-95

[45] Control and stochastic dynamic behavior of Fractional Gaussian noise-excited time-delayed inverted pendulum system [J].

Li, Tianxu ;

Sun, Xudong ;

Wang, Qiubao ;

Guo, Xiuying ;

Han, Zikun .

COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION, 2024, 139

[46] Hybrid Optimization Technique for Enhancing the Stability of Inverted Pendulum System [J].

Mousa, M. E. ;

Ebrahim, M. A. ;

Zaky, Magdy M. ;

Saied, E. M. ;

Kotb, S. A. .

INTERNATIONAL JOURNAL OF SWARM INTELLIGENCE RESEARCH, 2021, 12 (01) :77-97

[47] Switching control for inverted pendulum system based on energy modification [J].

Yamada, A ;

Yamakawa, S ;

Fujimoto, H .

SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, 2004, :2316-2321

[48] Auto-Tuning Parameters of Fractional PID Controller Design for Air-Conditioning Fan Coil Unit [J].

Li S. ;

Wang D. ;

Han X. ;

Cheng K. ;

Zhao C. .

Journal of Shanghai Jiaotong University (Science), 2021, 26 (2) :186-192

[49] Effect of fractional-order PID controller on the dynamical response of linear single degree-of-freedom oscillator with displacement feedback [J].

Niu J.-C. ;

Shen Y.-J. ;

Yang S.-P. ;

Li S.-J. .

Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2016, 33 (09) :1265-1271

[50] Fractional-order PID Control Method for Space Teleoperation [J].

Shi, Zhong ;

Huang, Xuexiang ;

Tan, Qian ;

Hu, Tianjian .

2015 1ST IEEE INTERNATIONAL CONFERENCE ON MULTIMEDIA BIG DATA (BIGMM), 2015, :216-219

← 1 2 3 4 5 →