CN110879526B - Fractional order controller and parameter setting method thereof - Google Patents

Fractional order controller and parameter setting method thereof Download PDF

Info

Publication number
CN110879526B
CN110879526B CN201911180530.8A CN201911180530A CN110879526B CN 110879526 B CN110879526 B CN 110879526B CN 201911180530 A CN201911180530 A CN 201911180530A CN 110879526 B CN110879526 B CN 110879526B
Authority
CN
China
Prior art keywords
fractional order
controller
control system
transfer function
frequency
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201911180530.8A
Other languages
Chinese (zh)
Other versions
CN110879526A (en
Inventor
郑伟佳
邓敏
李欣
罗映
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Foshan University
Original Assignee
Foshan University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Foshan University filed Critical Foshan University
Priority to CN201911180530.8A priority Critical patent/CN110879526B/en
Publication of CN110879526A publication Critical patent/CN110879526A/en
Application granted granted Critical
Publication of CN110879526B publication Critical patent/CN110879526B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses a fractional order controller and a parameter setting method of the fractional order controller, wherein the fractional order controller improves an open loop target transfer function of a control system applied by the fractional order controller, and expresses the transfer function C(s) of the fractional order controller as an expression shown in formula 9, so that an amplitude-frequency characteristic curve of the control system applied by the fractional order controller has higher slopes in a high frequency band and a low frequency band, and the control system applied by the fractional order controller has better steady-state tracking performance and load disturbance resistance performance.

Description

Fractional order controller and parameter setting method thereof
Technical Field
The invention relates to the technical field of controllers, in particular to a fractional order controller and a parameter setting method thereof.
Background
At present, a feedback control mode based on an output error is widely used in a servo system, and the used controller is mainly a traditional PID controller. The PID control has the advantages of simple structure, easy realization and the like, but the problems of overlarge overshoot, overlong adjusting time and the like easily occur to a system with model uncertainty, and the performance index requirements of a high-performance motion control system can not be met. Therefore, the scholars have proposed a fractional order PID controller and other controller forms based on the fractional order PID controller based on the traditional PID controller. Compared with the traditional integer order PID controller, the fractional order controller has the advantages of larger value range and wider performance regulation range, so that the fractional order controller adopted by an actual system can obtain better control performance than the integer order PID controller. But at the same time the design of the fractional order controller is also more complex than the design of the integer order PID controller.
A fractional order controller based on Bode Ideal Transfer Function (BITF) is a new controller form based on a PID controller, and the Bode Ideal Transfer Function is:
Figure BDA0002291127580000011
where s represents the Laplace operator, ωcRepresenting the open loop cutoff frequency, xi representing the fractional order, and xi satisfies xi e (1, 2).
The frequency characteristic of the Bode ideal transfer function has the following characteristics:
first, GB(j ω) the amplitude-frequency characteristic crosses the 0dB line with a slope of-20 ξ dB/dec;
second, GBThe phase margin of (j ω) is constant, and its specific value is
Figure BDA0002291127580000012
Setting a transfer function of a controlled object as follows:
Figure BDA0002291127580000021
where a, b, c, K, α and β are the subject model parameters.
The design method of the controller based on the Bode ideal transfer function in the prior art is as follows:
firstly, according to the design index of a control system, setting an open-loop cut-off frequency omegacAnd phase margin
Figure BDA0002291127580000022
The fractional order ξ is calculated according to the following equation:
Figure BDA0002291127580000023
assuming the controller transfer function as C(s), taking Bode ideal transfer function as the open-loop target transfer function of the control system, the following equations are listed:
Figure BDA0002291127580000024
the controller transfer function based on the Bode ideal transfer function is obtained as follows:
Figure BDA0002291127580000025
from the above expressions, the controller based on the Bode ideal transfer function includes a fractional PID controller and a fractional integrator.
When the existing controller based on the Bode ideal transfer function is applied to a motion control system, the load disturbance resistance of the system is poor, for example, the controller based on the Bode ideal transfer function is used as a feedback controller to control the rotating speed of a motor, and when the load of the system suddenly changes, the rotating speed of the motor cannot be recovered to a set value in a short time.
Disclosure of Invention
The present invention is directed to a fractional controller and a parameter tuning method for the fractional controller, so as to solve one or more technical problems in the prior art and provide at least one useful choice or creation condition.
The technical scheme adopted for solving the technical problems is as follows:
a fractional order controller is provided, wherein a transfer function of the fractional order controller is set as C(s), an open-loop target transfer function of a control system applied by the fractional order controller is set as L(s), and a transfer function of a controlled object of the control system is set as G(s), wherein s represents a Laplace operator;
let the open-loop target transfer function of the control system be expressed as:
Figure BDA0002291127580000031
wherein G isf(s) denotes a PI controller, ωcRepresenting the open-loop cut-off frequency, G, of the control systemBICO(s) represents Bode ideal cut filter, ξ represents the first fractional order;
the PI controller Gf(s) is expressed as:
Figure BDA0002291127580000032
wherein T is1Represents an integration time constant;
the Bode ideal cut-off filter GBICO(s) is expressed as:
Figure BDA0002291127580000033
wherein ω iscutoffRepresents the truncation frequency, gamma represents the second fractional order, and meets gamma epsilon (0, 1);
let the transfer function of the controlled object be G(s) as:
Figure BDA0002291127580000034
wherein a, b, c, K, α and β are object model parameters;
according to the relation l(s) ═ c(s) g(s), the transfer function c(s) of the fractional order controller is expressed as:
Figure BDA0002291127580000035
ξ represents a first fractional order, the first fractional order ξ expression is as follows:
Figure BDA0002291127580000036
wherein Arg [ G ]f(jωc)]Represents the PI controller Gf(s) at open loop cut-off frequency ωcAt the phase Arg [ G ]BICO(jωc)]Representing the Bode ideal cut-off filter GBICO(s) at open loop cut-off frequency ωcThe phase of (a) is determined,
Figure BDA0002291127580000041
representing a phase margin of the control system.
The application also discloses a parameter setting method of the fractional order controller, which comprises the following steps:
step 100, setting each object model parameter of the transfer function G(s) of the controlled object;
step 200, selecting a PI controller G according to the performance requirement of the control system applied by the fractional order controllerfTime constant integral T of(s)1；
Step 300, selecting a Bode ideal cut-off filter G according to the performance requirement of the control system applied by the fractional order controllerBICO(s) cutoff frequency ωcutoffAnd a second fractional order γ;
step 400 of setting the open loop cut-off frequency ω of the control system to which said fractional order controller appliescAnd phase margin
Figure BDA0002291127580000042
Step 500, cutting off the open loop cut-off frequency omegacAnd the phase margin
Figure BDA0002291127580000043
Substituting the following formula to obtain a first fractional order xi of the control system:
Figure BDA0002291127580000044
wherein Arg [ G ]f(jωc)]Represents the PI controller Gf(s) at open loop cut-off frequency ωcAt the phase Arg [ G ]BICO(jωc)]Representing Bode ideal cut-off filteringDevice GBICO(s) at open loop cut-off frequency ωcThe phase of (d);
step 600, the PI controller G and each object model parameter of the transfer function of the controlled objectfTime constant integral T of(s)1Said Bode ideal cut-off filter GBICO(s) cutoff frequency ωcutoffAnd a second fractional order gamma, the open loop cut-off frequency omega of the control systemcAnd phase margin
Figure BDA0002291127580000045
And substituting the first fractional order xi of the control system into the formula 9 to obtain a transfer function C(s) of the fractional order controller.
The invention has the beneficial effects that: according to the technical scheme, the open-loop target transfer function of the control system applied to the fractional order controller is improved, and the transfer function C(s) of the fractional order controller is expressed as an expression shown in a formula 9, so that an amplitude-frequency characteristic curve of the control system applied to the fractional order controller has higher slope in a high-frequency band and a low-frequency band, and the control system applied to the fractional order controller has better steady-state tracking performance and load disturbance resistance performance.
Drawings
The invention is further described with reference to the accompanying drawings and examples;
FIG. 1 is a schematic diagram showing the comparison of the amplitude-frequency characteristics between the control system applied to the fractional order controller of the present invention and the control system applied to the existing fractional order controller;
FIG. 2 is a flow chart of a design method of the fractional order controller of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if words such as "a plurality" are described, the meaning is one or more, the meaning of a plurality is two or more, more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The application discloses a fractional order controller, wherein in a first embodiment of the fractional order controller, a transfer function of the fractional order controller is set as C(s), an open-loop target transfer function of a control system applied by the fractional order controller is set as L(s), and a transfer function of a controlled object of the control system is set as G(s), wherein s represents a Laplace operator;
let the open-loop target transfer function of the control system be expressed as:
Figure BDA0002291127580000061
wherein G isf(s) denotes a PI controller, ωcRepresenting the open-loop cut-off frequency, G, of the control systemBICO(s) represents Bode ideal cut filter, ξ represents the first fractional order;
the PI controller Gf(s) is expressed as:
Figure BDA0002291127580000062
wherein T is1Represents an integration time constant;
the Bode ideal cut-off filter GBICO(s) is expressed as:
Figure BDA0002291127580000063
wherein ω iscutoffRepresents the truncation frequency, gamma represents the second fractional order, and meets gamma epsilon (0, 1);
let the transfer function of the controlled object be G(s) as:
Figure BDA0002291127580000064
wherein a, b, c, K, α and β are object model parameters;
according to the relation l(s) ═ c(s) g(s), the transfer function of the fractional order controller is calculated as c(s), and expressed as:
Figure BDA0002291127580000065
ξ represents a first fractional order, the first fractional order ξ expression is as follows:
Figure BDA0002291127580000066
wherein Arg [ G ]f(jωc)]Represents the PI controller Gf(s) at open loop cut-off frequency ωcAt the phase Arg [ G ]BICO(jωc)]Representing the Bode ideal cut-off filter GBICO(s) at open loop cut-off frequency ωcThe phase of (a) is determined,
Figure BDA0002291127580000071
representing a phase margin of the control system.
According to the technical scheme, the open-loop target transfer function of the control system applied to the fractional order controller is improved, and the transfer function C(s) of the fractional order controller is expressed as an expression shown in a formula 9, so that an amplitude-frequency characteristic curve of the control system applied to the fractional order controller has higher slope in a high-frequency band and a low-frequency band, and the control system applied to the fractional order controller has better steady-state tracking performance and load disturbance resistance performance.
The fractional order controller disclosed in the present application will be described below by referring to a specific control system, compared with the effect of the prior art.
Now, the index parameter of the control system to which the fractional order controller is applied is set, and the open loop cut-off frequency ω of the control system is setcIs set to omegac30rad/s, adjusting the phase margin of the control system
Figure BDA0002291127580000072
Is set as
Figure BDA0002291127580000073
The fractional order controller is set according to the prior art in the background art, the obtained amplitude-frequency characteristic curve of the applied control system is shown as a curve shown by a solid line in fig. 1, the fractional order controller is set according to the technical scheme of the embodiment, and the obtained amplitude-frequency characteristic curve of the applied control system is shown as a curve shown by a dotted line in fig. 1.
As can be seen from the two curves in fig. 1, in the vicinity of the intermediate frequency band, the amplitude-frequency characteristics of the control system applied to the fractional order controller set according to the prior art are very close to those of the control system applied to the fractional order controller set according to the present embodiment, while in the low frequency band and the high frequency band, the slope of the amplitude-frequency characteristics of the control system applied to the fractional order controller set according to the present embodiment is larger; in the low frequency band, the slope of the amplitude-frequency characteristic curve of the control system applied by the fractional order controller arranged according to the embodiment is-20 (ξ +1) dB/dec, while the slope of the amplitude-frequency characteristic curve of the control system applied by the fractional order controller arranged according to the prior art is-20 ξ dB/dec, which is increased by-20 dB/dec; the slope of the amplitude-frequency characteristic curve of the control system applied by the fractional order controller set according to the present embodiment is-20 (ξ + γ) dB/dec in the high frequency band, while the slope of the amplitude-frequency characteristic curve of the control system applied by the fractional order controller set according to the prior art is-20 ξ dB/dec, which is increased by-20 γ dB/dec. Therefore, the control system applied by the fractional order controller arranged according to the embodiment has better steady-state tracking performance and load disturbance resistance performance.
Referring to fig. 2, the present application also discloses a method for tuning a parameter of a fractional order controller, wherein a first embodiment of the method comprises the following steps:
step 100, setting each object model parameter of the transfer function G(s) of the controlled object;
step 200, selecting a PI controller G according to the performance requirement of the control system applied by the fractional order controllerfTime constant integral T of(s)1；
Step 300, selecting a Bode ideal cut-off filter G according to the performance requirement of the control system applied by the fractional order controllerBICO(s) cutoff frequency ωcutoffAnd a second fractional order γ;
step 400 of setting the open loop cut-off frequency ω of the control system to which said fractional order controller appliescAnd phase margin
Figure BDA0002291127580000081
Step 500, cutting off the open loop cut-off frequency omegacAnd the phase margin
Figure BDA0002291127580000082
Substituting the following formula to obtain a first fractional order xi of the control system:
Figure BDA0002291127580000083
wherein Arg [ G ]f(jωc)]Indicating said PI controlSystem ware Gf(s) at open loop cut-off frequency ωcAt the phase Arg [ G ]BICO(jωc)]Representing the Bode ideal cut-off filter GBICO(s) at open loop cut-off frequency ωcThe phase of (d);
step 600, the PI controller G and each object model parameter of the transfer function of the controlled objectfTime constant integral T of(s)1Said Bode ideal cut-off filter GBICO(s) cutoff frequency ωcutoffAnd a second fractional order gamma, the open loop cut-off frequency omega of the control systemcAnd phase margin
Figure BDA0002291127580000084
And substituting the first fractional order xi of the control system into the formula 9 to obtain a transfer function C(s) of the fractional order controller.
The specific steps of the method for tuning the parameters of the fractional order controller according to this embodiment will be described below by taking a permanent magnet synchronous motor servo system for a machine tool as an example.
According to step 100 in the method for tuning the fractional order controller parameter, firstly, a transfer function G(s) of a controlled object is set according to the controlled object of a servo system as follows:
Figure BDA0002291127580000091
step 200, selecting a PI controller G according to the performance requirement of the control system applied by the fractional order controllerfTime constant integral T of(s)10.2s, PI controller Gf(s) is represented as follows:
Figure BDA0002291127580000092
step 300, selecting a Bode ideal cut-off filter G according to the performance requirement of the control system applied by the fractional order controllerBICO(s) cutoff frequency ωcutoff300rad/s and a second fractional order y of 0.6,thus, an ideal Bode cut-off filter G is obtainedBICO(s) the following:
Figure BDA0002291127580000093
step 400 of setting the open loop cut-off frequency ω of the control system to which said fractional order controller appliesc35rad/s and phase margin
Figure BDA0002291127580000094
Step 500, cutting off the open loop cut-off frequency omegacAnd the phase margin
Figure BDA0002291127580000095
Substituting the following formula to obtain a first fractional order xi of the control system:
Figure BDA0002291127580000096
step 600, the PI controller G and each object model parameter of the transfer function of the controlled objectfTime constant integral T of(s)1Said Bode ideal cut-off filter GBICO(s) cutoff frequency ωcutoffAnd a second fractional order gamma, the open loop cut-off frequency omega of the control systemcAnd phase margin
Figure BDA0002291127580000097
And substituting the first fractional order xi of the control system into the formula 9 to obtain a transfer function C(s) of the fractional order controller as follows:
Figure BDA0002291127580000098
while the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.

Claims (2)

1. A fractional order controller, characterized by:
setting a transfer function of the fractional order controller as C(s), setting an open-loop target transfer function of a control system applied by the fractional order controller as L(s), and setting a transfer function of a controlled object of the control system as G(s), wherein s represents a Laplace operator;
let the open-loop target transfer function of the control system be expressed as:
Figure FDA0003528211720000011
wherein G isf(s) denotes a PI controller, ωcRepresenting the open-loop cut-off frequency, G, of the control systemBICO(s) represents Bode ideal cut filter, ξ represents the first fractional order;
the PI controller Gf(s) is expressed as:
Figure FDA0003528211720000012
wherein T is1Represents an integration time constant;
the Bode ideal cut-off filter GBICO(s) is expressed as:
Figure FDA0003528211720000013
wherein ω iscutoffRepresents the truncation frequency, gamma represents the second fractional order, and meets gamma epsilon (0, 1);
let the transfer function of the controlled object be G(s) as:
Figure FDA0003528211720000014
wherein a, b, c, K, α and β are object model parameters;
according to the relation l(s) ═ c(s) g(s), the transfer function c(s) of the fractional order controller is expressed as:
Figure FDA0003528211720000021
ξ represents a first fractional order, the first fractional order ξ expression is as follows:
Figure FDA0003528211720000022
wherein Arg [ G ]f(jωc)]Represents the PI controller Gf(s) at open loop cut-off frequency ωcAt the phase Arg [ G ]BICO(jωc)]Representing the Bode ideal cut-off filter GBICO(s) at open loop cut-off frequency ωcThe phase of (a) is determined,
Figure FDA0003528211720000023
representing a phase margin of the control system.
2. A method of parameter tuning the fractional order controller of claim 1, comprising the steps of:
step 100, setting each object model parameter of the transfer function G(s) of the controlled object;
step 200, selecting a PI controller G according to the performance requirement of the control system applied by the fractional order controllerfTime constant integral T of(s)1；
Step 300, selecting a Bode ideal cut-off filter G according to the performance requirement of the control system applied by the fractional order controllerBICO(s) truncationRate omegacutoffAnd a second fractional order γ;
step 400 of setting the open loop cut-off frequency ω of the control system to which said fractional order controller appliescAnd phase margin
Figure FDA0003528211720000024
Step 500, cutting off the open loop cut-off frequency omegacAnd the phase margin
Figure FDA0003528211720000025
Substituting the following formula to obtain a first fractional order xi of the control system:
Figure FDA0003528211720000026
wherein Arg [ G ]f(jωc)]Represents the PI controller Gf(s) at open loop cut-off frequency ωcAt the phase Arg [ G ]BICO(jωc)]Representing the Bode ideal cut-off filter GBICO(s) at open loop cut-off frequency ωcThe phase of (d);
step 600, the PI controller G and each object model parameter of the transfer function of the controlled objectfTime constant integral T of(s)1Said Bode ideal cut-off filter GBICO(s) cutoff frequency ωcutoffAnd a second fractional order gamma, the open loop cut-off frequency omega of the control systemcAnd phase margin
Figure FDA0003528211720000031
And substituting the first fractional order xi of the control system into the formula 9 to obtain a transfer function C(s) of the fractional order controller.
CN201911180530.8A 2019-11-27 2019-11-27 Fractional order controller and parameter setting method thereof Active CN110879526B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911180530.8A CN110879526B (en) 2019-11-27 2019-11-27 Fractional order controller and parameter setting method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911180530.8A CN110879526B (en) 2019-11-27 2019-11-27 Fractional order controller and parameter setting method thereof

Publications (2)

Publication Number Publication Date
CN110879526A CN110879526A (en) 2020-03-13
CN110879526B true CN110879526B (en) 2022-04-26

Family

ID=69729760

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911180530.8A Active CN110879526B (en) 2019-11-27 2019-11-27 Fractional order controller and parameter setting method thereof

Country Status (1)

Country Link
CN (1) CN110879526B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112462610B (en) * 2020-11-30 2022-10-21 中国科学院光电技术研究所 Multistage multi-order hysteresis correction network control method for photoelectric tracking system

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103279034A (en) * 2013-05-15 2013-09-04 哈尔滨工业大学 Parameter setting method for fractional-order robust controller
CN103558755A (en) * 2013-11-05 2014-02-05 四川理工学院 Fractional order integration PID controller setting and self-setting method
CN104777746A (en) * 2015-04-09 2015-07-15 长春理工大学 Enhanced gain robust fractional-order PID (proportion integration differentiation) controller parameter setting method
CN106338913A (en) * 2016-11-04 2017-01-18 河北省科学院应用数学研究所 Fractional-order PID control design method based on phase margin and cutoff frequency

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103279034A (en) * 2013-05-15 2013-09-04 哈尔滨工业大学 Parameter setting method for fractional-order robust controller
CN103558755A (en) * 2013-11-05 2014-02-05 四川理工学院 Fractional order integration PID controller setting and self-setting method
CN104777746A (en) * 2015-04-09 2015-07-15 长春理工大学 Enhanced gain robust fractional-order PID (proportion integration differentiation) controller parameter setting method
CN106338913A (en) * 2016-11-04 2017-01-18 河北省科学院应用数学研究所 Fractional-order PID control design method based on phase margin and cutoff frequency

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
Bode理想传递函数在分数阶控制中的应用;何一文 等;《信息与控制》;20100430;第39卷(第2期);第490-495页 *
Design of Fractional-order Controller for Fractional-order Systems using Bode’s Ideal Loop Transfer Function Method;Diptee S. Patil 等;《2015 International Conference on Industrial Instrumentation and Control (ICIC)》;20151231;第200-206页 *
基于理想Bode传递函数的分数阶PID频域设计方法及其应用;聂卓赟 等;《控制与决策》;20191031;第34卷(第10期);第2198-2202页 *

Also Published As

Publication number Publication date
CN110879526A (en) 2020-03-13

Similar Documents

Publication Publication Date Title
CN108233781B (en) Direct current motor self-adaptive inversion sliding mode control method based on disturbance observer
CN104300863B (en) A kind of adaptive sliding-mode observer method of varying load PMSM Speed
CN104252133B (en) Longitudinal control law smooth switching method of unmanned aerial vehicle
CN106647283A (en) Auto-disturbance rejection position servo system optimization design method based on improved CPSO
CN103368474B (en) A kind of motor speed control method
CN110071676A (en) A kind of vibration suppressing method and device of flexible robot's joint servo system
CN110955143B (en) Compound control method for first-order inertia pure lag process
CN105932930B (en) Control device of electric motor
EP2434356B1 (en) Integrated upsampler and filtering for multi-rate control of an electro-mechanical actuator
CN108919639B (en) PID controller parameter optimal proportion model establishing method
CN110879526B (en) Fractional order controller and parameter setting method thereof
CN108092561A (en) A kind of Dual-Servo Motor of full digital disappears slot sytem and its control method
CN1082203C (en) Process controlling method and apparatus
CN104139778A (en) Hybrid power automobile work mode control method
CN106374801B (en) A kind of electrical servo control system and method adaptively adjusted according to deviation
CN103475297A (en) Electric steering gear control method and electric steering gear controller
CN109507873B (en) Bandwidth parameterization direct current speed regulation feedback control system
CN106877774B (en) Input supersonic motor servo adaptive control system and method under saturation conditions
CN110308647A (en) The unmanned plane three-stage fuzzy PID control method of the input item containing error intergal
CN110879525B (en) Fractional controller model and parameter setting method thereof
CN114374346A (en) High-performance control method for permanent magnet synchronous motor
CN112650051B (en) Anticipated dynamic setting method of generalized two-degree-of-freedom PID controller
JPH07120215B2 (en) Robot control method
CN107769652B (en) Step-by-step backward-thrust sliding-mode control method for permanent magnet synchronous motor
CN114721274B (en) Sliding mode controller design method and system based on improved fal function

Legal Events

Date Code Title Description
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CP03 Change of name, title or address
CP03 Change of name, title or address

Address after: No.33 Guangyun Road, Shishan town, Nanhai District, Foshan City, Guangdong Province

Patentee after: Foshan University

Country or region after: China

Address before: No.33 Guangyun Road, Shishan town, Nanhai District, Foshan City, Guangdong Province

Patentee before: FOSHAN University

Country or region before: China