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Dissertations / Theses on the topic 'Fractional PID controller'
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1
Ardinugroho, Servatius Bismanditio. "Implementation and Tuning of PID, Fractional PID and LA Controllers for pH Control." Thesis, Université d'Ottawa / University of Ottawa, 2019. http://hdl.handle.net/10393/38747.
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Maintaining the pH of a fluid or a solution at a specific value is a concern in many industrial processes, wastewater management, and food and pharmaceutical production. Given the importance of controlling pH in many processes, the objective of this thesis is to study and compare the effectiveness of some controller algorithms to control the pH of a process. In this study, the performance of three controller algorithms, namely PID, fractional PID and LA controllers, is evaluated for the control of a simple neutralization process using conventional controller performance metrics. Performance metrics used are the response time, the Integral of the Time weighted Absolute Error (ITAE), the Integral of the Squared Error (ISE), and the Integral of the Squares of the changes (ΔU) in the manipulated variable (ISDU). The three controllers were therefore tuned to minimize one or a combination of the controller performance metrics. Results show that PID, fractional PID and LA controllers implemented and tested in this research are all worthy controllers for maintaining pH of the neutralization process. Simulation results show that the three controllers can be used with confidence to cope with the high nonlinearity of a pH neutralization process provided that the process is properly designed. The relative small gain in performance obtained with the fractional PID controller, compared to a linear PID controller, suggests that it is not worth resorting to a fractional PID controller given its complexity and higher computation effort. Results show that PID and LA controllers are easy to implement with short response time and low ITAE and ISDU performance metrics.
2
Domanský, Ondřej. "Syntéza obvodových prvků s fraktální dynamikou." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2016. http://www.nusl.cz/ntk/nusl-241035.
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The first aim of this diploma thesis is to clarify problems with circuit elements described by the fractional-order dynamics, show their basic properties and possible applications in circuits with lumped parameters. The second topic is covering the synthesis of two-terminal devices which have different fractional-orders for requested phase shifts. For this kind of devices, the thesis also describes their optimization and approximation in the frequency domain and subsequent implementation in the form of passive ladder structures. The final part of diploma work will be focused on practical realization of universal fractional PID controller and the verification of proper function of this multi-port in various configurations to prove its correct function via real measurement of frequency and time responses.
3
Lee, Yung. "Determination of all fractional-order PID controllers that meet specific stability, robustness, and performance requirements." Diss., Wichita State University, 2013. http://hdl.handle.net/10057/6384.
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Lee, Yung K. "Determination of all fractional-order PID controllers that meet specific stability, robustness, and performance requirements." Diss., Wichita State University, 2013. http://hdl.handle.net/10057/6384.
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In this dissertation, a broad spectrum of research in fractional-order (FO) proportional-integral-derivative (PID) controllers is directed to fundamental control problems such as stability, performance, and robustness. First, nominal stability was considered by finding all the possible FO PID controllers that stabilize a closed-loop system with respect to arbitrary values of the fractional orders λ and μ of the FO PID controller. The findings are presented on the (Kp, Ki), (Kp, Kd), and (Ki, Kd) planes. In order to meet nominal performance specifications, a sensitivity function weight was introduced and FO PID controllers were sought to meet the weighted sensitivity constraint. This led to a complete set of possible values of FO PID parameters that satisfy the given performance specifications. Following the nominal stability and performance, robust stability and performance were investigated. For a robust stability requirement, a multiplicative weight was selected to bound all multiplicative errors of a closed-loop system. Such FO PID controllers allow the closed-loop to remain stable for all the sets of perturbed plants. Nominal performance and robust stability are the prerequisite conditions for the robust performance of a closed-loop system. Though, in robust stability analysis, the closed-loop system was designed only to remain stable, it was required not only to remain stable for all the uncertain plants but also to satisfy given performance specifications in the robust performance analysis. A substantial contribution of this research is the establishment of a complete set of solutions for FO PID controllers, with respect to nominal stability and performance and robust stability and performance. The use of frequency response of a system makes it possible to apply the results presented in this dissertation even when a system transfer function is not known or unavailable, as long as the experimental frequency data of a system can be obtained.Thesis (Ph.D.)--Wichita State University, College of Engineering, Dept. of Electrical Engineering and Computer Science
5
Fioravanti, André. "H∞ analysis and control of time-delay systems by methods in frequency domain." Phd thesis, Université Paris Sud - Paris XI, 2011. http://tel.archives-ouvertes.fr/tel-00627352.
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This thesis addresses the H∞ analysis and control of continuous commensurate time-delay systems by frequential methods. First, the asymptotic behavior of the chains of poles are studied, and the conditions of stability for neutral systems with poles approaching the imaginary axis are given. The same analysis is done for fractional systems. In the sequel, a numerical method able to locate all the stability windows as well as the unstable root-locus for classical and fractional system is given. We conclude the analysis part by providing the stability crossing curves of a class of distributed delay system. Starting the synthesis part, we design PID controllers for unstable fractional systems using a small-gain theorem approach. Finally, using the Rekasius substitution, we construct a linear time invariant comparison system that allows us to get information about stability and H∞-norm for classical time-delay systems. Using this approach it is possible to design state and output feedback controllers, as well as linear filters for this class of systems.
6
Lin, Jun-Hong, and 林峻弘. "Fuzzy Fractional PID Controller for DC Motor." Thesis, 2017. http://ndltd.ncl.edu.tw/cgi-bin/gs32/gsweb.cgi/login?o=dnclcdr&s=id=%22105CYCU5442045%22.&searchmode=basic.
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碩士中原大學
電機工程研究所
105
This thesis introduces a new technology for the speed control of DC servo motor based on fractional-order proportional, integral and derivative (PID) control and fuzzy logic control. A new kind of PID controller, fractional-order PID controller, is proposed for controlling a DC servo motor. It is used not only for fractional-order systems but also for integer-order systems, and may have some superior performances compared with the classical integer-order PID controller. The computing method of fractional calculus is used to construct the fuzzy fractional PID controller in the experiment. Comparing these results with the traditional PID and fractional-order PID control methods, the proposed new control method has the better effect for improvement of settling time and overshoot.
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Liao, Guan Wei, and 廖冠瑋. "Design of Robust Fractional Order PID Controller for Vector-Controlled Induction Motor Drives." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/16498544564762173564.
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碩士長庚大學
電機工程學研究所
96
The main propose of this thesis is to design a robust fractional-order PID speed controller for vector-controlled induction motors, where possible parameter variations, load disturbance and model uncertainties are considered. The required parameters of the fractional-order PID controller can be obtained by utilizing Matlab optimization toolbox, in which phase margin, gain crossover frequency, high-frequency noise and low-frequency disturbance rejection are performance of concern. In the analysis and design of robustness, an equivalent rational model of fractional-order PID is adopted, while in the stage of implementation, an equivalent discrete model is utilized. In the thesis, simulations are performed by Matlab/Simulink, and a DSP/FPGA-based experimental platform is used for experiment verification. From simulation and experimental results, compared to the conventional PID controller, the proposed robust fractional-order PID controller can provide better control performance subject to parameters variations and load disturbances.
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Chen, Wei-Huang, and 陳偉煌. "Fuzzy Fractional Order PID Controller Design Using Internal Model Concept." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/88v33j.
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碩士國立高雄應用科技大學
電機工程系博碩士班
103
Fractional order PID controller design for Fractional order systems using internal model method is studied in this thesis. A fuzzy inference system is added into the controller to adjust the parameters increasing the performances. Compared to the traditional PID controllers, the obtained performance using the modified fuzzy time-varying PID controller is improved. The analysis of numerical simulations demonstrates the effectiveness.
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HUANG, DE-YI, and 黃得益. "Optimal Design of Fractional Order PID Controller Using Genetic Algorithm." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/5ugjkp.
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Chou, Yung-Chi, and 周永吉. "Fractional Order PID Controller Design via Bode Diagram and Nyquist Plot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/nj6rwz.
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碩士國立高雄應用科技大學
電機工程系博碩士班
103
The Nyquist plot of the system is shifted such that a point-to-point relations at ∠G(jω)=-180° and |G(jω)|=1 conditions as well as a system of algebraic equations can be obtained to solve for the parameters of an FOPID controller. The parameters Kp, Ki, Kd, λ (the integrating order) and μ (the derivative order) of an FOPID controller are properly selected to achieve desired gain margin and phase margin, to obtain a flat phase curve at the crossover frequency, and to increase the robustness property against the plant parameter variations. The searching of the optimal controller parameters is accomplished using PSO (particle swarm optimization) technology. Numerical simulations demonstrated the optimal parameters can be obtained using this method.
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Hung, Shih-Ying, and 洪世穎. "Positioning of a Rotary Pendulum Using a Fractional-Order PID Controller." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/05562544685991444274.
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碩士南臺科技大學
機械工程系
104
PID controllers have been successfully used in versatile applications, especially with the aid of available mature tuning methods such as the Ziegler-Nichols method. Recently, fractional order PID controllers were proposed after a series of researches on fractional calculus. It is intriguing for the flexibility of the adoption of fractional order which is free from the limit of integer order. This thesis studied the fractional order PID controller of different fraction order applied in a rotary pendulum driven by a DC motor. The simulation and experimental results show that the fractional order PID controllers are promising compared to the integer PID controllers.
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"Fractional Order PID Controller Tuning by Frequency Loop-Shaping: Analysis and Applications." Doctoral diss., 2017. http://hdl.handle.net/2286/R.I.46202.
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abstract: The purpose of this dissertation is to develop a design technique for fractional PID controllers to achieve a closed loop sensitivity bandwidth approximately equal to a desired bandwidth using frequency loop shaping techniques. This dissertation analyzes the effect of the order of a fractional integrator which is used as a target on loop shaping, on stability and performance robustness. A comparison between classical PID controllers and fractional PID controllers is presented. Case studies where fractional PID controllers have an advantage over classical PID controllers are discussed. A frequency-domain loop shaping algorithm is developed, extending past results from classical PID’s that have been successful in tuning controllers for a variety of practical systems.Dissertation/Thesis
Doctoral Dissertation Electrical Engineering 2017
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HUANG, ZU-BIN, and 黃祖斌. "Optimal Design and Application of Fractional Order PID Controller for Electrostatic Precipitator." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/74367162377506207561.
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碩士國立高雄應用科技大學
電機工程系博碩士班
105
A coal-fired power plant’s automatic control system for electrostatic precipitator (ESP) currents that influences opacity was studied. In this study, in-stack opacity of flue gases was correlated with emission particle density and ESP current loads to determine optimal ESP currents for removing pollutant particles from flue gases. The parameters of an FOPID controller are properly selected to achieve desired gain margin and phase margin, to obtain a flat phase curve at the plant parameter variations. The searching of the optimal controller parameters is accomplished using Genetic Algorithm (GA) technology. Numerical simulations demonstrated the optimal parameters can be obtained using this method. The results show that proper control of ESP current, stack opacity can be increased to 33.8%. These levels are still EPA-compliant when parameters include the moisture. This result provides useful information for monitoring particulate emissions through opacity, effectively adjusting ESP current based on opacity instruments.
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Xu, Shao-Hong, and 徐韶鴻. "Design of Fractional-Order PID Controller for a Fractional Order Systems Using Modified Particle Swarm Optimization Approach." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/4t826t.
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碩士國立高雄應用科技大學
電機工程系博碩士班
103
A optimal Fractional Order controller design problem is studied in this thesis, the particle swarm optimization method is used to search the best parameters of the FO controllers. Among different particle swarm optimization methods, this study shows the one with time-varying acceleration coefficients and time-varying intertia weight could result in a smallest performance index, The result show that the modified PSO method is highly suitable for the searching for optimal controller parameters of the FO systems.
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CHEN, LI-MING, and 陳力銘. "Optimal Design of Fractional Order PID Controller Using K-means Grey Wolf Algorithm." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/vkbezs.
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碩士國立高雄應用科技大學
電機工程系博碩士班
106
This thesis combines K-means clustering method with Grey Wolf Optimization(GWO) to design fractional-order PID (FOPID) controller, and the FOPID controller designed for four different systems: (1)single-input single-output(SISO) low-order sysyem(2)single-input single-output fractional-order system(3) Non-minimum Phase(NMP) system with Deley (4)airplan’s pitch angle controller. When using optimization approaches to design PID controller parameters, most of the optimization approaches often get into the trouble of the local optimal solution. This thesis combines K-means clustering method with Grey Wolf to improve global search and slow convergence of grey wolf algorithms and improve the efficiency of the algorithm to find the best FOPID controller. Finally, the numerical simulation and analysis using Matlab software and to compare the performance of the four different types of systems with that of the controllers in the references respectively in order to verify the validity and excellence of the proposed methods in this thesis.
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XUE, REN-CHENG, and 薛人誠. "Optimal Design of H2/H∞ PID Controller by Using Fractional-order Particle Swarm Optimizer." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/5e6md8.
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碩士國立高雄科技大學
電機工程系
107
In this paper, an improved fractional order particle swarm optimizer (FPSO) is applied to optimize a hybrid H2/H∞ PID controller optimization design problem for H∞ controller with robust stability and anti-jamming performance, and for H2 controller with robust optimal control performance. PSO is one of the most typical swarm intelligence algorithms that imitate animal behaviors. Because of its intuitive concept, easy implementation and high efficiency, PSO has been widely used in many optimization problems. In recent years, scholars began to study a fractional architecture of swarm intelligent algorithm, and propose FPSO. Because FPSO can more accurately describe the evolution of real swarm intelligence in nature, FPSO can increase the diversity of computation methods. At the same time, it also needs not to spend a lot of complex calculation procedures, so that better computational results can be obtained. To search the optimal combination of λ, α, β, γ in this improved FPSO quickly and efficiently, uniform design (UD) is adopted. This improved FPSO with UD be called Adaptive uniform design FPSO (AUFPSO). In the experiment, in order to obtain the optimal design parameters of hybrid H2/H∞ PID controller, AUFPSO and hybrid Taguchi-genetic algorithm (HTGA) are used for deal with and comparison. Experimental results show that the stability and convergence of parameters for hybrid H2/H∞ PID controller obtained by AUFPSO are superior to by HTGA.
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CHEN, CHI-CHE, and 陳繼哲. "Robust Design and Application of Hybrid Taguchi-Genetic Algorithm for Fractional Order PID Controller." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/63302936087498887329.
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碩士國立高雄應用科技大學
電機工程系博碩士班
105
The fractional-order PID (FOPID) controller is designed by the hybrid Taguchi-genetic algorithm (HTGA) combining genetic algorithm (GA) with Taguchi method in this thesis, and this FOPID controller is applied to the different systems: single-input single-output (SISO) stable system, SISO unstable system, stable systems with time delay and high-dimensional system. The comparisons between HTGA and GA designs are presented, and the results reveal the superiority of the proposed method. Generally, the optimization approach is usually used to design the parameters of the PID controller in order to achieve better control performance. However, most of the optimization approaches often meet the trouble of being the local optimal solution. In this thesis, the proposed HTGA method can enhance the global exploration capability and the robustness property of the solution to find a better FOPID controller. In addition, if a design with the tolerance is considered, the designed FOPID controller with HTGA can still keep good performance even though the system is under uncertainties. Finally, the effectiveness of the proposed method is verified via a FOPID robust controller using tolerance design to control the electrostatic precipitator (ESP) current for opacity which is an SISO stable system.
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CHEN, PO-HAN, and 陳柏翰. "Optimal Improvement of Fractional Order PID Controller for Diesel Engine on Promoting Performance and Efficiency." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/wcwy4s.
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碩士國立高雄應用科技大學
電機工程系博碩士班
105
In this study, a marine diesel engine of optimum operating conditions for superior engine performance and lower emission is researched. The experimental results showed that the lowest fuel oil consumption rate is occurred at 100% engine load. The corresponding scavenging pressure, engine speed, fuel-injection timing, engine torque, and brake horse power (BHP) under such engine operating conditions were 195.6 g/kW-hr, 0.22 MPa, 800 rpm, 20.8°, 8787.01 N-m, and 9815.2 HP, respectively. The engine operating parameters were adequately adjusted based on the results of both experimental analysis and model simulation in order to acquire superior engine performance and efficiency. The results could be provided a valuable reference for marine engine industry to improve the main engine performance and low emissions of air pullouts.
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Jiang, Min-Zuo, and 姜泯佐. "Fractional Order PID Controller Design Based on K-means Average PSO Algorithm with Chaotic Characteristics." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/2mc3r9.
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碩士國立高雄應用科技大學
電機工程系博碩士班
106
This thesis uses Particle Swarm Optimization (PSO) combined with the Average Method, K-means Clustering Method and the Chaotic Characteristics Method, to design a Fractional PID Controller (FOPID) for actual cases with simulation and comparison with Traditional Particle Swarm Algorithm, and to verify the superiority of the design method proposed in this thesis. Using the PSO algorithm to design parameters of the PID controller, which is easy to fall within the search range, local optimal solution and can’t solve the problem of high dimensions; therefore, by adding the average method, having chaotic characteristics and K-means Clustering Method; use these methods to solve the problems of Particle Swarm Algorithm, to improve the search for the best solution, improve the robustness of the solution and to design a better performance fractional PID controller. Finally; this thesis designs parameters for the actual four SISO system and verifies the effectiveness of the method proposed in this thesis.
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Huang, I.-TAI, and 黃億泰. "Optimal Fractional Order PID Controller Design for Disturbance Rejection Using Genetic Algorithm Under the Complex Environments." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/2cwy7d.
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碩士國立高雄應用科技大學
電機工程系博碩士班
105
This paper exploits the ability of approximating the high order transfer function of a fractional order PID controller, and searches the optimal parameters of the fractional order PID controller using genetic algorithm to solve the robust disturbance rejection problem . In this paper, two different kinds of systems are considered: (1) Single-input single-output system, (2) Single-input single-output time-delay system. A suitable class of fitness functions for genetic algorithm are selected in this paper to design fractional order PID controller for single-input single-output system, and Single-input single-output time-delay system. Then, the numerical simulation using Matlab software is proceeded to investigate the performance of the two different kind of systems and to verify the validity of the proposed methods in this paper.
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Cai, Yun-Lun, and 蔡昀倫. "Fractional Order PID Controller Design Using Hybrid Taguchi- Genetic Algorithm with Mixed H2/H∞ Performance Index." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/08144507884145909752.
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碩士國立高雄應用科技大學
電機工程系博碩士班
105
This paper studies the parameter optimization problem of the fractional order PID controller ,which use Hybrid Taguchi-Genetic Algorithm with Mixed H2/H∞ Performance Index,and the FOPID controller is applied to the different systems:single-input single-output (SISO) stable systems and high-dimensionalsystem and uncertain singular systems. The intractable problem when using the optimal approach to design the parameters of the PID controller often get into the trouble of the local optimal solution; this thesis employs Hybrid Taguchi-Genetic Algorithm , which is able to effectively improve the global exploration capability ,and introduce mixed H2/H∞ performance index to achieve the robustness of the solution . Finally,the numerical simulation using Matlab software is proceeded to explore fractional order PID controller of this thesis approach ,conventional Genetic Algorithm and compared with existing methods ,to verify the validity and excellence of the proposed methods in this paper.
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Wang, Yin-Teng, and 王寅騰. "Fractional IMC-PID-filter controllers design for processes with time delays." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/4zva6d.
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碩士國立臺北科技大學
化學工程與生物科技系化學工程碩士班
106
PID controllers are the most widely used controllers in the chemical process industries, and various model-based PID design methods can be found in the literature. A major drawback of the model-based PID design is that the effectiveness of the methods would degrade for higher-order process dynamic owing to the inevitable modeling error. However, in the pass two decades, fractional order systems (FOS) and fractional order proportional-integral-derivative (FOPID) controllers have received considerable attention. When the model identify to the type of the fractional order systems, it would shows better performance. To control the fractional order systems, FOPID have good performance. This study developed a new design method for a fractional order PID controller based on fractional order calculus and internal model control (IMC) architecture to deal with the fractional order plus time delay systems. The fractional order property is imposed by the open loop reference model L(s). The control loop is robustness because of the specification of the gain crossover frequency and the iso-damping property, when the gain change happened. In addition, the method of model identification is proposed. The high order process was approximated to the not integer order plus time delay model (NIOPTD-I). Later, we design the fractional order IMC controller based on this approximation model, then we can get the control dynamics of this high order process. At least, simulation studies demonstrate the effectiveness of the proposed design methodology.
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Nasri, Mohamed Temam. "An improved approach for small satellites attitude determination and control." 2014. http://hdl.handle.net/1993/23574.
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The attitude determination and control subsystem (ADCS) is a critical part of any satellite conducting scientific experiments that require accurate positioning (such as Earth observation and solar spectroscopy). The engineering design process of this subsystem has a long heritage; yet, it is surrounded by several limitations due to the stringent physical constraints imposed on small satellites. These limitations (e.g., limited computational capabilities, power, and volume) require an improved approach for the purpose of attitude determination (AD) and control. Previous space missions relied mostly on the extended Kalman filter (EKF) to estimate the relative orientation of the spacecraft because it yields an optimal estimator under the assumption that the measurement and process models are white Gaussian processes. However, this filter suffers from several limitations such as a high computational cost.
This thesis addresses all the limitations found in small satellites by introducing a computationally efficient algorithm for AD based on a fuzzy inference system with a gradient decent optimization technique to calculate and optimize the bounds of the membership functions. Also, an optimal controller based on a fractional proportional-integral-derivative controller has been implemented to provide an energy-efficient control scheme.
The AD algorithm presented in this thesis relies on the residual information of the Earth magnetic field. In contrast to current approaches, the new algorithm is immune to several limitations such as sensitivity to initial conditions and divergence problems. Additionally, its computational cost has been reduced. Simulation results illustrate a higher pointing stability, while maintaining satisfying levels of pointing accuracy and increasing reliability. Moreover, the optimal controller designed provides a shorter time delay, settling time, and steady-state error. This demonstrates that accurate attitude determination and control can be conducted in small spacecraft.
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TSAI, CHUN-YANG, and 蔡竣仰. "A Fractional Order PID Controllers Design Using Switching K-means and General Particle Swarm Optimization Algorithm." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/c68apc.
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碩士國立高雄應用科技大學
電機工程系博碩士班
106
In recent years, many evolutionary based on clustering algorithms have been developed for selecting the optimal clustering center to optimize the clustering results. Therefore, this thesis will use K-means algorithm, which is the most widely known in clustering methods and combining particle swarm optimization (PSO) to optimize design of fractional PID controllers. If just using the optimization method to design the parameters of the PID controller, it is often meet the problem of being the local optimum solution and to deal with the global exploration capability and the unsure of the complexity. Therefore, this thesis will apply the K-Means particle swarm algorithm to improve the global exploration capability of the particles and general particle swarm algorithm to solve common problems and switching design for different situation of system. The results as show that the effect of this method such as single-input single-output(SISO) stable systems, unstable systems、stable、unstable systems with time-delay systems and high-dimensional systems, etc.