PLC implementation of fractional PI controller in positioning of electrohydraulic servodrive

• Autorzy: Rybarczyk D.
• Języki publikacji: EN

Abstrakty

EN

The article describes the implementation of fractional order PI controller with the Programmable Logic Controller (PLC). The control system proposed is used for positioning of an electrohydraulic drive with Bosch Rexroth servo valve. The controller is based on PLC, working under real time operating system Automation Runtime. User interface is equipped with the touch panel of Power Panel 500 type. In the first part of the paper the fractional order calculus theory is introduced. In addition, some examples of fractional controller implementations in different kinds of objects are presented. The subsequent section focuses on author’s own research. The Oustaloup’s method description is recalled along with its computer implementation. Further, the impact of finite order of the approximation function is verified. The article includes the description of test stand structure, code generation and implementation of PI controller on the dedicated PLC.

Słowa kluczowe

EN

fractional order controller; electrohydraulic drive; electrohydraulic servovalve; fractional order calculus

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2016
• Tom: Vol. 45, no. 3
• Strony: 301--316
• Opis fizyczny: Bibliogr. 14 poz., rys.

Twórcy

autor

Rybarczyk D.

• Faculty of Mechanical Engineering and Management, Division of Mechatronic Devices, Poznan University of Technology, Piotrowo 3, 60-965 Poznan

Bibliografia

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• [3] Deticek, E. and Zuperl, U. (2011) An intelligent electro-hydraulic servo drive positioning. Strojniski Vestnik/Journal of Mechanical Engineering 57(5), 394–404.
• [4] Djouambi, A., Charef, A. and Besancon, A. V. (2007) Optimal approximation, simulation and realization of the fundamental fractional order transfer function. International Journal of Applied Mathematics and Computer Science 17(4), 455–462.
• [5] Faieghi, M. R. and Nemati, A. (2011) On fractional-order PID design. In: T. Michalowski, ed., Applications of MATLAB in science and engineering. ISBN: 978-953-307-708-6.
• [6] Kaczorek, T. (2009) Selected topics in the fractional systems theory (Wybrane zagadnienia teorii ukladow niecalkowitego rzedu; in Polish). Oficyna Wydawnicza Politechniki Bialostockiej, Bialystok, Poland.
• [7] Milecki, A., Rybarczyk, D. and Owczarek, P. (2014) Application of the MFC method in electrohydraulic servo drive with a valve controlled by synchronous motor. In: R. Szewczyk, C. Zielinski, and M. Kaliczynska, eds., Recent advances in Automation, Robotics and Measuring Techniques Springer International Publishing, Warsaw, Poland, 167–174.
• [8] Milecki, A. and Rybarczyk, D. (2015) Modelling of an electrohydraulic proportional valve with a synchronous motor. Strojniski Vestnik/Journal of Mechanical Engineering 61(7), 517–522.
• [9] Oprzedkiewicz, K. and Kol acz, T. (2016) A non integer order model of frequency speed control in AC motor. In: R. Szewczyk, C. Zielinski, and M. Kaliczynska, eds., Challenges in Automation, Robotics and Measurement Techniques. Springer International Publishing, Warsaw, Poland, 287–298.
• [10] Oustaloup, A. (1983) Systemes Asservis Lin´eaires d’Ordre Fractionnaire: Th´eorie et Pratique. Editions Masson, Paris.
• [11] Tepljakov, A. (2012) FOMCON: Fractional-order modeling and control. Available at http://www.fomcon.net/, accessed on 2016-06-1.
• [12] Valerio, D. and Sa da Costa, J. (2005) NINTEGER: A non-integer control toolbox for MATLAB. Available at http://web.ist.utl.pt/duarte.valerio/ FDA04T.pdf, accessed on 2016-06-1.
• [13] Vinagre, B. M., Monje, C. A., Calderon, A. J. and Suarez, J. I. (2007) Fractional PID controllers for industry application - a brief introduction. Journal of Vibration and Control 13(9–10), 1419–1429.
• [14] Zamani, M., Karimi-Ghartemani, M., Sadati, N. and Parniani, M. (2009) Design of a fractional order PID controller for an AVR using particle swarm optimization. Control Engineering Practice 17(10), 1380–1387.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).