Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop

Aleksei Tepljakov; Emmanuel A Gonzalez; Eduard Petlenkov; Juri Belikov; Concepción A Monje; Ivo Petráš

doi:10.1016/j.isatra.2015.11.012

Incorporation of fractional-order dynamics into an existing PI/PID DC motor control loop

ISA Trans. 2016 Jan:60:262-273. doi: 10.1016/j.isatra.2015.11.012. Epub 2015 Nov 27.

Authors

Aleksei Tepljakov¹, Emmanuel A Gonzalez², Eduard Petlenkov³, Juri Belikov⁴, Concepción A Monje⁵, Ivo Petráš⁶

Affiliations

¹ Department of Computer Control, Tallinn University of Technology, Ehitajate tee 5, 19086 Tallinn, Estonia. Electronic address: aleksei.tepljakov@ttu.ee.
² Existing Installation Department, Jardine Schindler Elevator Corporation, 8/F Pacific Star Bldg., Sen. Gil Puyat Ave. cor. Makati Ave., Makati City 1209, Philippines. Electronic address: emm.gonzalez@delasalle.ph.
³ Department of Computer Control, Tallinn University of Technology, Ehitajate tee 5, 19086 Tallinn, Estonia. Electronic address: eduard.petlenkov@ttu.ee.
⁴ Institute of Cybernetics, Tallinn University of Technology, Akadeemiatee 21, 12618 Tallinn, Estonia. Electronic address: jbelikov@cc.ioc.ee.
⁵ Systems Engineering and Automation Department, University CarlosIII of Madrid, 28911 Leganés Madrid, Spain. Electronic address: cmonje@ing.uc3m.es.
⁶ Institute of Control and Informatization of Production Processes, Faculty BERG, Technical University of Košice, B. Nemcovej 3, 042 00 Košice, Slovakia. Electronic address: ivo.petras@tuke.sk.

PMID: 26639053
DOI: 10.1016/j.isatra.2015.11.012

Abstract

The problem of changing the dynamics of an existing DC motor control system without the need of making internal changes is considered in the paper. In particular, this paper presents a method for incorporating fractional-order dynamics in an existing DC motor control system with internal PI or PID controller, through the addition of an external controller into the system and by tapping its original input and output signals. Experimental results based on the control of a real test plant from MATLAB/Simulink environment are presented, indicating the validity of the proposed approach.

Keywords: Controller tuning; DC motor; Fractional PID control; Fractional calculus; Process control; SISO control; Servo system.

Publication types

Research Support, Non-U.S. Gov't