Fractional Order Pid Controller In The Application Of The Servo System And Its Implementation

Servo control technology is more and more widely applied in modern industrial, transportation, aerospace, medical, military and other fields, and the requirements of servo control system become higher. In addition to maintain existing features of digitization and integration, servo control system also needs having a higher performance in response speed, tracking accuracy and adaptation to complex conditions, and the control algorithm has a crucial impact on the performance of the whole servo control system.The fractional order PIλD1μ controllers are the extend of traditional integer order PID controllers. It is significantly important that the fractional order PIλDμ controllers has excess two parameters than the conventional integer order PID controller, which can provide better dynamic performance than integer order PID controller. Application and research of fractional control algorithm has important theoretical significance and wide application prospect.The main research work of this dissertation can be described about application of fractional order controllers in servo control system. Firstly, according to the requirements of the servo control system, both system function and system structure are analyzed and designed. Seconly, hardware about servo control cards are designed base on32bit floating point DSP chip TMS320F28335core processor, including the designing of the core board and peripheral interface board. Then the controlled object model of a practical servo system is discussed and studied by using fractional order controllers when the servo control system fulfill the conditions of stability margin and gain robustness.Based on the research, servo control algorithm system software is to be designed and also the fractional order control algorithm will be done, system also needs to feedforward compensation due to the actual large load inertia. Finally, debugging servo system both software and hardware to accomplish the practical application of fractional controller in the servo system and test system performance.The experimental results show that the application of fractional control algorithm in the practical servo system is feasible, and fractional algorithm is less sensitive when changing the controller itself parameters.