国防科技大学学报Issue(1)：142-147,6.DOI:10.11887/j.cn.201401025
基于PMLM的PDμ运动控制器的设计研究
A PDμmotion controller design method for PMLM
摘要
Abstract
Recently,with the improvement of non-integer order calculus theory,fractional order calculus receives more and more attentions in the application of controlling.Especially,the fractional order PIλDμcontrolling is applied in many fields.For the traditional PD controller which is usually used in motion control system,a kind of designing and tuning method of PDμcontroller is proposed.Since there is explicit corresponding relation between phase margin and overshoot of the designed system,by designing the rate of change of phase the system’s phase can be made stable around cut off frequency and the influence of open loop gain’s variations on the overshoot can be reduced.Cut-off frequencyωc and phase margin γm given are considered as design specifications in this method.PDμ’s derivation orderμand derivation coefficient Kd can be derived from system’s phase equation and rate of change equation.Proportional coefficient Kp can be obtained from the magnitude equation on the cut off frequency.Finally,this method is applied to a linear motion control experiment platform.By simulations and experiments comparing with integer order ITAE-optimal method,the effectiveness and excellence of this method is verified.From the results,it can be noticed that the controlling system designed in this method has a good inhibition effect on the overshoot variations caused by the fluctuations of the system parameters on the premise of meeting the design specifications.关键词
分数阶微积分/分数阶控制器/PD μ控制器/运动控制Key words
fractional calculus/fractional order controller/PDμcontroller/motion control分类
信息技术与安全科学引用本文复制引用
王一光,陈兴林,李晓杰..基于PMLM的PDμ运动控制器的设计研究[J].国防科技大学学报,2014,(1):142-147,6.基金项目
国家科技重大专项资助项目（2009ZX02207）；国家重点基础研究发展计划项目 （）
