Study of the Robust Fractional Order PID Controller for PMSM Motion Control System Based on Differential Evolution Algorithm

Combining t he analytical c alculation a nd t he Differential Evolution (DE) algorithm, a robust fractional order proportional integral derivative ((PII mu)-I-lambda) controller design strategy is proposed for a permanent magnet synchronous motor (PMSM) motion control system i n t his pa per. T aking t he r obustness specification a s t he c onstraint c ondition, t he p hase margin specification a nd g ain margin s pecification as t he boundary conditions, the integral of time and absolute error (ITAE) as the objective function, the robust controller parameters are obtained by applying the DE algorithm. PMSM speed tracking simulations are performed t o s how the significant advantages o f u sing the proposed r obust (PII mu)-I-lambda controller o ver t he t raditional i nteger order PID controller.