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

页码：1 / 17

页数：16

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