Lending - OCLC

W
University Libraries
Article
University of Washington
ILLiad TN: 829643 1111111111111111111111111111111111111111
Borrower: IBA
Shipping Address:
Bradley University
Library - ILL
1511 West Bradley Ave
Peoria, IL 61625
Odyssey: 136.176.190.18
Ariel: ariel,bradley.edu
Phone:
Fax: 309-677-2827
Email: savoie@hilltop.bradley.edu
Needed By: 06/20/2012
Maximum Cost: $501FM
EFTS? No
Patron: Idupulapati, Ravi Chandra 9/12
ILL Number: 91123679
11111111111111111111111111111111111111111111111111
Location: EJ
Call #: in pdf folder
Journal Title: Proceedings Third
International Conference on
Emerging Trends in Engineering
and Technology ICETET 2010 ;
19-21 November 2010, Goa, India I
Volume: Issue:
MonthlYear: nov 19-21 2010
Pages: 422-425
Article Author:
Article Title: Mehra, V. ,Srivastava, S. ;Varshney,
P. 'Fractional-Order PID Controller Design for
Speed Control of DC Motor'
ISSN:
OCLC #: 762162077
Lending String: UMC, *WAU, GAT,AZU
In Process: 05/21
Special Instructions:
Notes/Alternate Delivery: ILL allowed; Print, fax, or secure electronic only
o Paged to SZ o Paged to HS o Emailed Loc
This article was supplied by:
Interlibrary Loan and Document Delivery Services
University of Washington Libraries
Box 352900 - Seattle, WA 98195-2900
(206) 543-1878 or Toll Free: (800) 324-5351
OCLC: WAU - DOCLlNE: WAUWAS
interlib@u,washington,edu
Odyssey
5/2112012 12:38 PM
PDF Copyright Notice.doc 07/09


University Libraries
University of Washington
Interlibrary Loan
Box 352900
Seattle, WA 98195-2900
interlib@u.washington.edu
(206) 543-1878 / (800) 324-5351


NOTI CE ON COPYRI GHT

This document is being supplied to you in accordance with United States copyright law (Title
17 US Code). It is intended only for your personal research or instructional use.

The document may not be copied or emailed to multiple sites. Nor may it be posted to a mailing
list or on the web without the express written consent of the copyright owner and payment of
royalties

Infringement of copyright law may subject the violator to civil fine and/or criminal prosecution,
or both.
Fractional-Order PID Controller Design for Speed Control of DC Motor
Abstract This paper deals speed control of a DC motor using
fractional-order control. Fractional calculus provides novel
and higher performance extensions for fractional order
proportional integral and derivative (FOPID) controller. In
this paper, the parameters of the FOPID controller are
optimally learned by using Genetic Algorithm (GA), and the
optimization performance target is chosen as the integral of the
absolute error (IAE). Simulation results show that the FOPID
controller performs better than the integer order PID
controller.
Keywords-Fractional calculus; fractional-order controller;
genetic algorithm; DC motor speed control
I. INTRODUCTION
DC motor is a power actuator, which converts electrical
energy into rotational mechanical energy. DC motors are
widely used in industry and commercial application such as
tape motor, disk drive, robotic manipulators and in numerous
control applications. Therefore, its control is very important.
For the control of dc motor, traditional controllers such as PI
and PID controller have been used widely in literature [1]. In
this paper, DC motor is controlled by a non-conventional
control technique known as a fractional-order PID (FOPID)
control. This technique was developed during the last few
decades and it has various practical applications viz. flexible
spacecraft attitude control, Car suspension control,
temperature control, motor control etc. This idea of the
fractional calculus application to control theory has been
described in many other works ([2, 4, 11]) and its advantages
are proved as well.
This paper has following sections: Sections 2 explains
briefly about Fraction calculus and fractional-order
controller. Section 3 discusses the optimization technique
using genetic algorithm. Sections 4 and 5 show parameter
optimization design process and simulation results. Section 6
concludes the paper.
II. FRACTIONAL- ORDER CONTROLLER
Fractional-order control systems are described by
fractional-order differential equations. The FOPID controller
is the expansion of the conventional PID controller based on
fractional calculus. FOPID has five parameters which are
responsible for adding more flexibility and robustness to
the system.
A. Fractional calculus and Fractional-order controller
Fractional calculus is a generalization of integration and
differentiation to non-integer (fractional) order fundamental
operator
r
D ,
a t
where a and t are the limits and (r R) is the
order of the operation. The two definitions used for the
fractional differintegral
r
D ,
a t
are the Grnwald-Letnikov
(GL) definition and the Riemann-Liouville (RL) definition
[8, 12]. Further, it has been mentioned in literature that for a
wide class of functions, these two definitions are equivalent
[12].
GL definition:
t a
h
j r r r r
a t h
h 0 h 0
j 0
r
D f(t) limh ( 1) f(t jh) limh f(t)
j
(
(



=
| |
= = A
|
\ .

(1)
where [ ] means the integer part, and
r
f(t)t
h
A
is the
generalized finite difference of order r with step h.
RL definition:
t n
r
a t n r n 1
a
1 d f( )
D f(t) d
(n a) dt (t )
+
t
= t
I t
}

(2)
for ((n-1)<r<n) and (.) is the Eulers gamma function.
The Laplace transforms of the GL and RL fractional
derivative/integral, of signal f(t) at t=0 for order r is given by
r r r
a t
L D f(t) s L f(t) s F(s) ( = = (


(3)
Using Laplace transformation
s F(s) I f(t),
o
= = o
and
d
s F(s) f(t)
dt
o
o
o
=

(4)
Then, the fractional PID controller is written as:
( )
P I D
C(s) K K s K s , , 0
o
= + + o >

(5)
Selection of , gives the classical controllers viz. PD
controller ( =0), PI controller ( =0) and PID controller
(, =1).
All the above-mentioned controllers are special case of
the fractional PI

controller. Some advantages of PI

controller include better control of dynamical systems; (they
are described by fractional-order mathematical models), and
that they are less sensitive to parameter variations of a
controlled plant.
B. Continuous-time Approximation of Fractional
Differentiator / Integrator
Several approximation methods and techniques for
obtaining continuous-time and discrete-time fractional-order
models in the form of IIR and FIR filters are developed in
[9].
Vishal Mehra, Smriti Srivastava, and Pragya Varshney
Department Of Instrumentation and Control Engg.
Netaji Subhas Institute Of Technology, New Delhi, India, 110078
vishal.mehra@nsitonline.in, ssmriti@yahoo.com , pragyava@rediffmail.com
Third International Conference on Emerging Trends in Engineering and Technology
978-0-7695-4246-1/10 $26.00 2010 IEEE
DOI 10.1109/ICETET.2010.123
422
Third International Conference on Emerging Trends in Engineering and Technology
978-0-7695-4246-1/10 $26.00 2010 IEEE
DOI 10.1109/ICETET.2010.123
422
Third International Conference on Emerging Trends in Engineering and Technology
978-0-7695-4246-1/10 $26.00 2010 IEEE
DOI 10.1109/ICETET.2010.123
422
In this paper, the Oustaloups approximation [8]
algorithm is used for simulation purposes. This method is
based on the approximation of a function
( ) | |
r
H(s) s , r R ,r 1,1 = e =


For the frequency range (
l
,
h
)
' n
k
k n k
s
H(s) K
s
=
+ e
=
+ e
[


Using the following set of synthesis formulae, the
approximation for poles, zeros and gain are obtained as
follows:

( )
( ) ( )
( )
( ) ( )
k n 0.5 0.5r 2n 1
;
k l h l
k n 0.5 0.5r 2n 1
'
k l h l
+ + + +
e = e e e
+ + +
e = e e e

( )
r
n
'
2 K
k k h l
k n

= e e e e [
=

(6)
where
h
and
l
are the high and low transitional
frequencies.
This algorithm is implemented in MATLAB as a
Function script ora_foc given in [7].
III. GENETIC ALGORITHMS
Genetic Algorithm (GA) is a stochastic global search
method that mimics the process of natural evolution. The
algorithm starts with no knowledge of the correct solution
and depends entirely on responses from its environment and
evolution operators to arrive at the best solution. By starting
at several independent points and searching in parallel, the
algorithm avoids local minima and converges to sub optimal
solutions. In this way, GA has been shown to be capable of
locating high performance areas in complex domains without
experiencing the difficulties associated with high
dimensionality
GA consists of three fundamental operators:
reproduction, crossover and mutation. These operators work
with a number of artificial creatures called a generation. By
exchanging information from each individual in a
population, GA preserves a better individual and yields
higher fitness generation such that the performance can be
improved. Given an optimization problem, GA encodes the
parameter designed into a finite bit string, and then runs
iteratively using the three operators in a random way but
based on the fitness function evolution. It performs the basic
tasks of copying strings, exchanging portions of string and
changing some bits of strings. Finally, it finds and decodes
the solution to the problem from the last pool of mature
strings.
IV. DESIGN OF PID AND FOPID CONTROLLER USING GA
FOR SPEED CONTROL OF DC MOTOR
According to control objective, for a PID controller, three
parameters viz. KP, KI, KD have to be approximated and for
a FOPID controller, five parameters KP, KI, KD and
need to be approximated.
The parameters that are used for the designing the
controllers are listed in Table I.

TABLE I. PARAMETERS FOR DESIGN
1.
Population size n 100 =

2.
Crossover probability 0.65

3.
Crossover function Arithmetic Crossover
4.
Selection Function Stochastic uniform
5.
Creation Function Uniform
6.
Generation number 50

TABLE I
Fitness Function: in this paper, the fitness function
minimized is the Integral of Absolute Error (IAE).
0
J e(t)dt
t
=
}
(7)
Since it is not practical to integrate up to infinity we choose a
value of T such that e (t) for t > T is negligible.
V. SIMULATION AND EXPERIMENTAL RESULTS
In this section, a comparison of integer order PID and
FOPID is done using SIMULINK and by practical
experimentation.
A. MS 15 DC motor module
The LJ Technical Systems MS 15 DC motor module is
used for the experiment (Fig1). The angular velocity (t) of
the motor is controlled by applied voltage V
a
. A constant
voltage applied to the DC motor produces a constant torque.
The motor runs at a constant speed. This applied voltage is
the plant input. The motor speed is measured using a
tachogenerator mounted on the same shaft as the motor. A
tachogenerator generates a voltage proportional to the motor
speed. The voltage from the tachogenerator is used as the
plant output in this experiment. The output voltage of
tachogenerator is feedback to the plant. The transfer function
of the system has the following form:
dcm
0.833
G (s)
0.267s 1
=
+
(8)

Figure 1. MS 15 DC motor module
B. Real time control & Hardware-in-loop experiment
platform
Schematic of the real-time, hardware-in-loop
configuration is shown in Fig. 2. A Data Acquisition and
Control Board (DACB) is used to acquire the data from the
plant. PCI 1710 HG is used to provide feedback to the digital
controller (computer) from the plant in the appropriate
format.
423 423 423
SIMULINK

MATLAB
Real-time
windows
target
ADVANTECH PCI
1710 HG
DAQ Card

D/A Converter


A/D Converter
Plant H/W loop

Figure 2. Schematic of the real-time, hardware-in-loop experiment
platform
The Advantech PCI 1710 HG board has 8 analog inputs,
2 analog outputs, and 96 digital I/O lines. This is interfaced
with computer and is realized in SIMULINK using the Real-
time windows target tool of MATLAB. The design consists
of SIMULINK blocks Analog Input, Analog Output and
Digital Input/Output block. Signals from the plant are given
to the feedback using Analog input block and the control
signal generated by the controller is inputted to the plant
using Analog output block.
Next the integer order PI, PID and FOPID controllers are
designed using GA for feedback control of MS 15 DC motor.
(i) For integer order PI with the following limits:
| | | |
P I
K 0;10 ; K 0;30 ; = =

By running GA for 50 generations, the following results
were obtained
P I
K 0.0875; K 29.9820 = =
. Best value
IAE 1.302 = (Fig. 3)
0 10 20 30 40 50
0
10
20
30
40
50
60
Generation
F
i
t
n
e
s
s

v
a
l
u
e
Best: 1.302 Mean: 1.3101


Best f itness
Mean f itness

Figure 3. Fitness value Vs Generations for PI tuning
(ii) For integer order PID with the following limits:
| | | | | |
P I D
K 0;10 ; K 0;30 ;K 0;0.1 ; = = =

By running GA for 50 generations, the following results
were obtained:
P I D
K 7.9447; K 29.8703;K 0.0498 = = =

Best value IAE 7.7082 = (Fig. 4)
(iii) For FO PID with the following limits:
| | | | | | | | | |
P I D
K 0;10 ; K 0;30 ;K 0;0.1 ; 0;1 and = 0;1 = = = = o

By running GA for 50 generations, the following results
were obtained:
P I D
K 5.7017; K 20.3722;K 0.0487;
0.9898 and =0.8324
= = =
= o

And the best value of IAE is 1.0552 (Fig. 5)
C. Comparison in Simulation
Fig1 shows the SIMULINK model for the feedback
control of DC motor where fractional-order controller is
realized via NIPID block proposed by D. Valerio [9].
0 10 20 30 40 50
0
20
40
60
80
100
120
140
Generation
F
i
t
n
e
s
s

v
a
l
u
e
Best: 7.7082 Mean: 7.8184


Best f itness
Mean f itness

Figure 4. Fitness value Vs Generations for PID tuning
0 10 20 30 40 50
0
10
20
30
40
50
60
70
Generation
F
i
t
n
e
s
s

v
a
l
u
e
Best: 1.0552 Mean: 1.2389


Best f itness
Mean f itness

Figure 5. Fitness value Vs Generations for FOPID tuning

Figure 6. SIMULINK model feed back control of DC motor
Fig 6 shows the closed loop response of the DC motor for
the square wave input with Integer order PI, PID and FOPID
controller. The simulation results obtained from Fig 6 are
tabulated in Table II.
TABLE II. SIMULATION RESULTS OF SIMULINK BASED SPEED
CONTROL OF DC MOTOR
Parameters Integer order
PI controlled
process
Integer order
PID controlled
process
FOPID
controlled
process
Maximum
overshot
50% 9% 4%
Rise time 0.21s 0.175s 0.2065s
Settling time approx 1.5 s 0.53 s approx 0.3s
Steady state
error
0.002 0.003 0.001

The closed loop response of the system for the different
types of control schemes is shown in Fig 7.
D. Experimental Verification in real time:
In any control system, the final step in the design process
is the real time control experiment. As can be observed from
Figs. 8-10, the performances of the controllers are in
confirmation with the simulation results based on the
identified model.
424 424 424

0 2 4 6 8 10
0
0.5
1
1.5
2
2.5
3
3.5
TIME
O
/
P



Refrence signal
Uncontrolled system
PI controller
PID controller
FOPID controller

Figure 7. Close loop response of system.
0 5 10 15
0
0.5
1
1.5
2
2.5
3
3.5
4
TIME
V
o
l
t
a
g
e
Real time closed loop response of PI controller


data1
data2
Refrence signal
O/P signal

Figure 8. Real time closed loop response of PI controller
VI. CONCLUSION
In this paper, a scheme for feedback speed control of DC
motor using a fractional-order PID controller using GA is
presented. The parameters of integer order PI,PID and
FOPID are optimally searched by genetic algorithm. The
results of both controllers are compared in simulation and
verified in real time. It is observed that the FOPID controller
reduces the maximum over shoot, settling time and steady
state error as compared to the integer order PID controller
and provides more robustness in parameter variation than
conventional PID due to two extra degree of freedom.
REFERENCES
[1] I. Griffin, On-line PID Controller Tuning using Genetic Algorithms
, Masters Thesis, DCU, August 22, 2003.
[2] I. Podlubny, Fractional-order systems and PI

D

controllers, IEEE
Trans. On Automatic Control, vol.44, no. 1, pp. 208-213, 1999.
[3] I. Petras, L. Dorcak and I. Kostial, control quality enhancement by
fractional order controllers ,Acta Montanistica Slovaca, Kosice,Vol
3, No. 2,PP.143-148,1998.
[4] I. Petras, The fractional order controllers: methods for their synthesis
and application ,J. Electrical Engineering, Vol. 50, No.910, pp.284-
288,1999.
[5] Y. Q. Chen and K. L. Moore, Discretization Schemes for fractional-
order differentiators and integrators, IEEE Trans. On Circuits and
Systems, vol.49, no. 3, pp.363-367, March 2002.
[6] J. Y. Cao and B.G. Cao, Optimization of fractional order controllers
based on genetic algorithm , Proceedings of the fourth International
conference onmachine learning and cyber netics, Guanghou,18-21
august 2005.
[7] Y. Q Chen, Oustaloup - Recursive Approximation for Fractional
Order Differentiators ,Math Works Inc, August 2003.
[8] http://www.mathworks.com/matlabcentral/fileexchange/3802.
[9] Oustaloup, A. Levron, F-Mathieu, Frequency-Band Complex
Noninteger Differentiator: Characterization and Synthesis, IEEE
Trans. on Circuits and Systems I: Fundamental Theory and
Applications I 47 No. 1(2000), 2539.
[10] B. M. Vinagre, I. Podlubny, A. Hernandez, A. Feliu Some
Approximations of Fractional Order Operators used in Control
Theory and Applications, Fractional Calculus and Applied Analysis
3 No. 3 (2000), 231248.
[11] D.Valerio, Toolbox ninteger for Matlab, v. 2.3 (September2005)
http://web.ist.utl.pt/duarte.valerio/ninteger/nintegerhtm
[12] D. Xue, C. Zhao, Y. Q. Chen,Fractional Order PID Control of a DC-
Motor with Elastic Shaft: A Case Study, Proc.of the 2006 American
Control Conference, Minneapolis, Minnesota,USA, June 14-16, 2006,
pp. 31823187.
[13] I. Podlubny, Fractional Differential Equations, Academic Press,
San Diego, 1999.
[14] Matlab Genetic Algorithm Tool box
0 5 10 15
0
0.5
1
1.5
2
2.5
3
3.5
TIME
V
o
l
t
a
g
e
Real Time Closed loop response of PID controller


data1
data2 O/P signal
Refrence signal

Figure 9. Real time closed loop response of PID controller.
0 5 10 15
0
0.5
1
1.5
2
2.5
3
3.5
TIME
V
o
l
t
a
g
e
Real time closed loop response of FOPID controller


data1
data2
Refrence signal
O/P signal

Figure 10. Real time closed loop response of FOPID controller.

425 425 425