Backlash Vibration Suppression Control of Torsional System by Novel Fractional Order PID k Controller
Backlash Vibration Suppression Control of Torsional System by Novel Fractional Order PID k Controller
复制标题
新型分数阶PID k控制器对扭转系统的齿隙振动抑制控制
DOI：
10.1541/ieejias.124.312
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发表时间：
2004
影响因子：
--
通讯作者：
Y. Hori
中科院分区：
文献类型：
--
作者：
Chengbin Ma;Y. Hori
提出了一种新的用于扭振系统齿隙振动抑制控制的分数阶PID k控制器，其中D控制器的阶数k既可以是整数，也可以是任意的真实的数。对于双惯性系统的速度控制已经提出了各种方法，但这些方法设计的控制系统可能无法抑制由齿轮侧隙引起的振动。为了提高控制系统对齿隙的鲁棒性，提出了几种方法。然而，它们的设计过程非常复杂。在实际应用中需要清晰和直接的设计概念。作为一种新的方法，本文将D控制器的阶数扩展到任意真实的数。通过直接调整阶数k，设计了鲁棒PIDk控制器。采用基于短记忆原理的逼近方法实现了离散Dk控制器。设计过程和实验结果表明，简单的鲁棒控制设计，通过新的FOC方法，PIDk控制系统的更好的鲁棒性对间隙非线性和良好的逼近的实现方法。
This paper proposes a novel fractional order PIDk controller for torsional system’s backlash vibration suppression control, in which the order k of D controller can not only be integer but also be any real number. Various methods have been proposed for two-inertia system’s speed control, but the control systems designed by these methods may not be able to suppress the vibration caused by gear backlash. In order to improve control system’s robustness against the backlash, several methods have been proposed. However their design processes are very complicated. Clear and straightforward design concept is required in practical applications. As a novel approach, in this paper the D controller’s order is expanded to include any real number. Robust PIDk controller against backlash is designed by adjusting the order k directly. An approximation method based on Short Memory Principle is also introduced to realize the discrete Dk controller. Design process and experimental results demonstrate straightforward robust control design through the novel FOC approach, the PIDk control system’s better robustness against backlash non-linearity and good approximation of the realization method.