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An Enhanced Robust Fractional Order PID Controller for Electric Machinery System: Tuning Rules and Simulations

[+] Author Affiliations
Chunyang Wang, Meng Wu, Nianchun Cai, Xuelian Liu, Chengjun Tian

Changchun University of Science and Technology, Changchun, China

Paper No. DETC2015-46714, pp. V009T07A033; 6 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME


A design method of enhanced robust fractional order PID controller is proposed to control electrical machinery system. Magnitude margin constraint, phase margin constraint and the gain robustness constraints of partly flat phase in specified dots around crossover frequency are adopted to design enhanced robust fractional order PID controller which has stronger robustness to open-loop gain variation compared with integer order PID controller. Besides, nonlinear optimization function is adopted to hunt for optimal parameter solutions of enhanced robust fractional order PID controller, so the five parameters of enhanced robust fractional order PID controller can be solved. The electrical machinery control system models are simulated and tested by MATLAB/SIMULINK, and the results show that the proposed fractional order PID controller has stronger robustness and smaller overshoot, compared with integer order PID controller.

Copyright © 2015 by ASME



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