The Frequency and Real-Time Properties of the Microcontroller Implementation of Fractional-Order PID Controller

被引：8
|
作者：
Oprzedkiewicz, Krzysztof [1 ]
Rosol, Maciej [1 ]
Zeglen-Wlodarczyk, Jakub [1 ]
机构：
[1] AGH Unvers, Dept Automat Control & Robot, Al A Mickiewicza 30, PL-30059 Krakow, Poland
来源：
ELECTRONICS | 2021年 / 10卷 / 05期
关键词：
fractional-order systems; FOPID controller; CFE approximation; PSE approximation; discrete GL operator; fractional-order backward difference; bode diagram; real-time systems;
D O I：
10.3390/electronics10050524
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents time, frequency, and real-time properties of a fractional-order PID controller (FOPID) implemented at a STM 32 platform. The implementation uses CFE approximation and discrete version of a Grunwald-Letnikov operator (FOBD). For these implementations, experimental step responses and Bode frequency responses were measured. Real-time properties of the approximations are also examined and analyzed. Results of tests show that the use of CFE approximation allows to better keep the soft real-time requirements with an accuracy level a bit worse than when using the FOBD. The presented results can be employed in construction-embedded fractional control systems implemented at platforms with limited resources.
引用
收藏
页码：1 / 17
页数：16
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