The Research And Simulation Of Tuning Method Based On Fractional Order Of Proportional And Derivative Controller In Servo System

In recent years,it is remarkable to see the increasing number of studied related to the fractional order control technology,specially in the field of engineering control,fractional order proportional integral derivative(FOPI~λD~μ) controllers are widely used.The system robustness and stability of the tuning methods from classical control theory extended to the fractional order control theory,robustness and stability of the system is enhanced.This paper introduces the three types of fractional calculus definition,transform and nature,lists the algorithm realization of fractional order controller and uses flat phase method,the phase margin method and amplitude margin method that is realized the fractional order proportional differential control for motion servo system tuning link design and simulation.First of all,the establishment of mathematical model based on fractional order controller the motion servo system.For a given crossover frequency,phase margin and other related parameters,design integer order proportional integral derivative(IOPID) controller,fractional order proportional and derivative(FOPD) controller and fractional order[proportional and derivative](FO[PD]) controller.Secondly,the frequency characteristics of the servo system is analyzed and drawed Bode diagram in the frequency domain.Observation of phase frequency characteristic curve in the vicinity of crossover frequency waveform is flat.If it is flat,indicating the vicinity of the phase in the crossover frequency is constant to ensure that the system near the crossover frequency has a more robustness.Thirdly,the using of MATLAB to simulate the system step response and prove that paper proposed tuning method of the fractional order controller can enhance the system stability and robustness.Fourthly,changing the crossover frequency and phase margin, observation and analysis of system characteristics.Finally,under the influence of disturbances signal,observe the robustness and stability of the system changes.After calculation,simulation and analysis,the fractional order proportional and derivative(FOPD and FO[PD]) controller on the system stability and robustness of the tuning method is effective.