DESIGN OF FRACTIONAL ORDER PID CONTROLLER FOR SPEED CONTROL OF DC MOTOR

ARJUN AL D. CAPITAN JOHNRELL EVANGELISTA JOMEL QUINANOLA

(SCI-LAB IN CHARGE) (LEADER) (SCI-LAB)

MARY JOY DAGUIO CARL DAVID PUGO MARLOU MAGTANA

(SCI-LAB) (TYPING) (TYPING)

Abstract:
This study investigates the application of a In this section the authors investigate the
Fractional Order Proportional-Integral- control performance of fractional order PID
Derivative (FOPID) controller for enhancing controller by designing a fractional order PID
the speed control performance of a DC motor. controller to control the speed of an armature
The conventional PID controllers have controlled DC motor.
demonstrated limitations in addressing the
complex dynamics and non-linearity inherent SPEED CONTROL OF DC M OTOR USING
in DC motor systems. The utilization of FRACTIONAL ORDER PID CONTROLLER
fractional calculus provides a more flexible
and robust approach to controller design, In this section the authors investigate
allowing for the incorporation of fractional the control performance of fractional order PID
orders to better capture the intricate controller by designing a fractional order PID
characteristics of the motor. The proposed controller to control the speed of an armature
FOPID controller design involves the tuning controlled DC motor. Figure 2 shows the
of fractional order parameters, namely the schematic
proportional (P), integral (I), and derivative (D THE ILLUSTRATION:
terms.
Conventional PID controller is one of the
most widely used controllers in industry, but
the recent advancement in fractional calculus
has introduced applications of fractional order
calculus in control theory. One of the prime
applications of fractional calculus is fractional
order PID controller and it has received a
considerable attention in academic studies and
in industrial applications. Fractional order PID INTRODUCTION
controller is an advancement of classical
integer order PID controller. In many a cases Fractional order calculus has gained
fractional order PID controller has acceptance in last couple of decades. J
outperformed classical integer order PID Liouville made the first major study of
controller. This research paper, studies the fractional calculus in 1832. In 1867, A. K.
control aspect of fractional order controller in Grunwald worked on the fractional operations.
speed control of DC motor. A comparative G. F. B. Riemann developed the theory of
study of classical PID controller and fractional fractional integration in 1892. Fractional order
order PID controller has been performed. mathematical phenomena allow us to
describe and model a real object more
Index Terms- PID controller, Fractional accurately than t h e c l a s s i c a l “integer”
order PID controller, DC motor. methods. Earlier due to lack of available
methods, a fractional order system was used to
be approximated as an integer order model. But
at the present time, there are many available
numerical techniques which are used to
approximate the fractional order derivatives and
integrals. A typical example of a non-integer
(fractional) order system is the voltage- Grunwald – Letnikov definition
current relation of a semi infinite lossy
transmission line [30].The past decade has
seen an increase in research efforts related to
fractional calculus and use of fractional
calculus in control system.
This paper studies the control effect
of fractional order PID controller in speed
control of DC motor and performs a
comparative study of classical PID controller
and fractional order PID controller for speed
control of DC motor.

II. FRACTIONAL ORDER CALCULUS:

MATHEMATICAL OVERVIEW

Fractional order calculus is an area

where the mathematicians deal with
derivatives and integrals from non-
integer orders. Gamma function is
simply the generalization of the
factorial for all real numbers.
The definition of the :

Differ-integral operator is denoted II.

by D . It is the combination of FRACTIONAL ORDER CALCULUS IN CONTROL
differentiation and integration
operation commonly used in One of the primary controllers is PID controller, which is
fractional calculus. Reimann- widely used. Fractional controller is denoted by PI  D was
Liouville definition for : proposed by Igor Podlubny in 1997 [1], here  and  have
non-integer values. Figure 1 shows the block diagram of
fractional order PID controller

Here is the fractional order. a and t are the

limits. There are two commonly used
definitions for general Differ integral

Grunwald - Letnikov
Riemann- Liouville
 Different fractional controllers are
summarized below.
CRONE has a French acronym which
means fractional order robust control.
TID Controller (Tilted Proportional Integral
Controller)

TID controller has the same structure as

classical PID controller, but the proportional
gain is replaced with a function s
Fractional Lead-Lag Controller
III. FRACTIONAL ORDER CALCULUS IN
CONTROL Fractional lead-lag controller is an
extension of classical lead-lag controller.
One of the primary controllers is PID
controller, which is Related Works
widely used. Fractional controller is denoted
by PI D was proposed by Igor Podlubny Fractional order PID controllers are
in 1997 [1], here and have used in many control applications. This
non-integer values. Figure 1 shows the section summarizes some of the contribution
block diagram of fractional order PID controller. in this field.
Schlegel Milos et.al [5], performed a
comparison between classical controller and
fractional controller and summarized that the
fractional order controller outperforms the
classical controller. Numerous research works
and publications exist on the topic of PID
controllers, exploring various aspects of their
design, tuning, and applications across
different domains. Here are some key areas of
related works:
Classical PID Controller Design and Tuning:
 Classic works often cover the foundational
principles of PID controller design, tuning rules
(e.g., Ziegler-Nichols method), and stability
analysis. Publications by Ziegler, Nichols, and
The PIλ Dµ controller is more flexible Åström are foundational in this area.
and gives an opportunity to better adjust the Advanced PID Tuning Methods:
dynamics of control system.
 Research has focused on advanced methods for
Intuitively, the FOPID has more degree of
PID tuning to improve controller performance.
freedom than the conventional PID. It can be
This includes auto-tuning algorithms, optimization
expected that the FOPID can provide better
techniques, and adaptive tuning strategies.
performance with proper choice of
Fractional Order PID Controllers:
controller parameters. However, with more
 Works related to fractional order PID controllers
parameters to be tuned, the associated
optimization problem will be more difficult explore the advantages of using fractional calculus
to deal with. It is motivated to develop a in PID control. These controllers offer additional
systematic procedure for the FOPID flexibility and improved performance in dealing
optimization to achieve a certain with complex and non-linear systems.
performance.

Robust and Nonlinear Control with PID:

  Studies examine the robustness of PID
controllers in the face of parameter variations
and disturbances. Nonlinear control techniques, Experimental Studies and Case Studies:
such as feedback linearization, sliding mode
control, and adaptive control, are explored in  Numerous publications present
conjunction with PID controllers. experimental studies and case studies that validate
Digital PID Implementation: the effectiveness of PID controllers in real-world
 With the prevalence of digital control systems, scenarios, showcasing their performance and
research focuses on the digital implementation limitations.
of PID controllers, addressing issues like
discretization, anti-aliasing filters, and
computational aspects.
. When exploring this area, it's beneficial to look
Applications of PID Controllers: into conference proceedings, journals such as IEEE
. Transactions on Control Systems Technology, Automatica,
 Numerous works explore the and Control Engineering Practice, as well as books
application of PID controllers in diverse fields, authored by experts in control systems and PID controllers.
including industrial processes, robotics, Here is the diagram/lay out:
automotive control, aerospace, and biomedical
systems. Each application often comes with its
own set of challenges and requirements.
.
Multivariable and Multimodal PID Control:
.
 Research extends PID control to handle
multivariable systems and control strategies for
systems with multiple modes of operation. This
involves designing PID controllers for complex,
interconnected processes.
. Notations
Intelligent PID Controllers:
. R = Armature Resistance (Ω).
 Intelligent techniques, including fuzzy L = Inductance of armature winding (H).
logic and neural networks, are integrated with ia = Armature current (A).
PID controllers to create adaptive and if = Field current (A).
intelligent control systems capable of learning ea = applied armature voltage (V)
and adapting to changing system dynamics. eb = back emf (V)
. Tm = torque developed by motor (Nm)
Optimal Control and PID: θ = angular displacement of motor
. shaft (rad). ω = angular speed of
 Optimal control theory is applied to motor shaft (rad/sec.)
PID controllers to find the optimal parameters J = equivalent moment of inertia of motor and
for a given objective function. This involves load referred to motor shaft (kg-m2)
minimizing or maximizing a performance B = equivalent friction coefficient of motor and
index, taking into account various constraints. load referred to motor shaft (Nm*s/rad)
.
Real-time and Embedded PID Control:
.
 Works discuss the implementation of
PID controllers in real-time and embedded
systems. This is crucial for applications where
rapid and deterministic control is required.
 Here is the Diagram tho:
The torque Tm developed by the motor is
proportional to the product of armature current
and air gap flux, i.e.

Tm K1K f if ia
Here K1 is constant.
In armature controlled dc motor, the field current is
kept constant, so Tm KT ia. Here KT is known
as the motor torque constant. The motor back EMF
being proportional to speed is given. Here Kb is
the back EMF constant. The differential equation
of the armature circuit is

Figure 3(a) (b): Block diagram of armature controlled

DC Motor.

After applying the values of DC motor

parameters as mentioned in appendix A, final
transfer function can be represent as:

IV. THE RESULT AND DISCUSSIONS

This section shows the results of speed control of DC

motor using conventional PID controller and
fractional order PID controller. Ziegler-Nicholas
tuning method is used to tune the conventional PID
controller. Proportional Gain Kp, Derivative Gain Kd
and Integral Gain Ki of conventional PID controller
are 5, 1 and 1 respectively. The result will be shown as
a graph, and here is the output:
 control systems is like getting a super-smart
upgrade. It helps us control things more precisely,
adapt to different situations, and opens up new
CONCLUSION possibilities in engineering. As we keep learning
and tweaking, fractional order controllers are set
This paper studies the use of fractional to become even more essential in making systems
calculus in control system and controller work better and smarter.
design. The authors showed the use of
fractional order PID controller to control the REFERENCES:
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