Fractional-Order Control of a Micrometric Linear Axis
This paper discusses the application of a particular fractional-order control scheme, the PDD1/2, to the position control of a micrometric linear axis. The PDD1/2 scheme derives from the classical PD scheme with the introduction of the half-derivative term. The PD and PDD1/2 schemes are compared by...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2013/947428 |
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| _version_ | 1832558891228987392 |
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| author | Luca Bruzzone Pietro Fanghella |
| author_facet | Luca Bruzzone Pietro Fanghella |
| author_sort | Luca Bruzzone |
| collection | DOAJ |
| description | This paper discusses the application of a particular fractional-order control scheme, the PDD1/2, to the position control of a micrometric linear axis. The PDD1/2 scheme derives from the classical PD scheme with the introduction of the half-derivative term. The PD and PDD1/2 schemes are compared by adopting a nondimensional approach for the sake of generality. The linear model of the closed-loop system is discussed by analysing the pole location in the σ-plane. Then, different combinations of the derivative and half-derivative terms, characterized by the same settling energy in the step response, are experimentally compared in the real mechatronic application, with nonnegligible friction effects and a position set point with trapezoidal speed law. The experimental results are coherent with the nonlinear model of the controlled system and confirm that the introduction of the half-derivative term is an interesting option for reducing the tracking error in the transient state. |
| format | Article |
| id | doaj-art-c1be9596d4494ffe8a322987f0ca149c |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-c1be9596d4494ffe8a322987f0ca149c2025-02-03T01:31:27ZengWileyJournal of Control Science and Engineering1687-52491687-52572013-01-01201310.1155/2013/947428947428Fractional-Order Control of a Micrometric Linear AxisLuca Bruzzone0Pietro Fanghella1DIME, Department of Mechanical, Energetic, Management and Transport Engineering, University of Genova, via Opera Pia 15A, 16145 Genova, ItalyDIME, Department of Mechanical, Energetic, Management and Transport Engineering, University of Genova, via Opera Pia 15A, 16145 Genova, ItalyThis paper discusses the application of a particular fractional-order control scheme, the PDD1/2, to the position control of a micrometric linear axis. The PDD1/2 scheme derives from the classical PD scheme with the introduction of the half-derivative term. The PD and PDD1/2 schemes are compared by adopting a nondimensional approach for the sake of generality. The linear model of the closed-loop system is discussed by analysing the pole location in the σ-plane. Then, different combinations of the derivative and half-derivative terms, characterized by the same settling energy in the step response, are experimentally compared in the real mechatronic application, with nonnegligible friction effects and a position set point with trapezoidal speed law. The experimental results are coherent with the nonlinear model of the controlled system and confirm that the introduction of the half-derivative term is an interesting option for reducing the tracking error in the transient state.http://dx.doi.org/10.1155/2013/947428 |
| spellingShingle | Luca Bruzzone Pietro Fanghella Fractional-Order Control of a Micrometric Linear Axis Journal of Control Science and Engineering |
| title | Fractional-Order Control of a Micrometric Linear Axis |
| title_full | Fractional-Order Control of a Micrometric Linear Axis |
| title_fullStr | Fractional-Order Control of a Micrometric Linear Axis |
| title_full_unstemmed | Fractional-Order Control of a Micrometric Linear Axis |
| title_short | Fractional-Order Control of a Micrometric Linear Axis |
| title_sort | fractional order control of a micrometric linear axis |
| url | http://dx.doi.org/10.1155/2013/947428 |
| work_keys_str_mv | AT lucabruzzone fractionalordercontrolofamicrometriclinearaxis AT pietrofanghella fractionalordercontrolofamicrometriclinearaxis |