TY - GEN
T1 - Position Control of a 2DOF Rotary Torsion Plant Using a 2DOF Fractional Order PID Controller
AU - Salazar-Aquino, O.
AU - Pampamallco-Jara, J.
AU - Rojas-Moreno, A.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9
Y1 - 2020/9
N2 - In this paper, a 2DOF FO PID (2 Degrees of Freedom Fractional Order Proportional Integral Derivative) controller is employed to control the angular position of the rotational load of a 2DOF rotary torsion plant. This plant comprises a DC servomotor with gear reduction device anchored to a cubic solid aluminium frame. The horizontal output shaft of the servomotor, acting as a driver, is in series with two rotary torsion loads using two flexible couplings. Every flexible load constitutes a 1DOF. The angular position of the rotary load of the plant is also controlled employing a 2DOF IO (Integer Order) PID controller. In this work, a FO PID controller is obtained from an IO PID controller replacing in the latter controller all its IO derivative and integral terms by FO terms. According to the experimental results obtained in this work, the controlled output of the 2DOF FO PID control systems presents less settling time and steady-state error compared with the controlled output of the 2DOF IO PID control system.
AB - In this paper, a 2DOF FO PID (2 Degrees of Freedom Fractional Order Proportional Integral Derivative) controller is employed to control the angular position of the rotational load of a 2DOF rotary torsion plant. This plant comprises a DC servomotor with gear reduction device anchored to a cubic solid aluminium frame. The horizontal output shaft of the servomotor, acting as a driver, is in series with two rotary torsion loads using two flexible couplings. Every flexible load constitutes a 1DOF. The angular position of the rotary load of the plant is also controlled employing a 2DOF IO (Integer Order) PID controller. In this work, a FO PID controller is obtained from an IO PID controller replacing in the latter controller all its IO derivative and integral terms by FO terms. According to the experimental results obtained in this work, the controlled output of the 2DOF FO PID control systems presents less settling time and steady-state error compared with the controlled output of the 2DOF IO PID control system.
KW - 2 DOF PID controller
KW - 2 DOF rotary torsion plant
KW - fractional order controller
KW - integer order controller
UR - https://www.scopus.com/pages/publications/85095408072
U2 - 10.1109/INTERCON50315.2020.9220228
DO - 10.1109/INTERCON50315.2020.9220228
M3 - Conference contribution
AN - SCOPUS:85095408072
T3 - Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020
BT - Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020
Y2 - 3 September 2020 through 5 September 2020
ER -