دانلود مقاله ISI انگلیسی شماره 146432
ترجمه فارسی عنوان مقاله

تمرین مقاله ربات و رمان دو درجه آزادی کنترل کسری بر اساس توپولوژی دو حلقه برای پاندول معکوس

عنوان انگلیسی
Practice articleRobust and novel two degree of freedom fractional controller based on two-loop topology for inverted pendulum
کد مقاله سال انتشار تعداد صفحات مقاله انگلیسی
146432 2018 18 صفحه PDF
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : ISA Transactions, Volume 75, April 2018, Pages 189-206

پیش نمایش مقاله
پیش نمایش مقاله  تمرین مقاله ربات و رمان دو درجه آزادی کنترل کسری بر اساس توپولوژی دو حلقه برای پاندول معکوس

چکیده انگلیسی

A rotary single inverted pendulum (RSIP) typically represents a space booster rocket, Segway and similar systems with unstable equilibrium. This paper proposes a novel two degree of freedom (2-DOF) fractional control strategy based on 2-loop topology for RSIP system which can be extended to control the systems with unstable equilibrium. It comprises feedback and feed-forward paths. Primary controller relates the perturbation attenuation while the secondary controller is accountable for set point tracking. To tune the parameters of proposed fractional controller a simple graphical tuning method based on frequency response is used. The study will serve the outstanding experimental results for both, stabilization and trajectory tracking tasks. The study will also serve to present a comparison of the performance of the proposed controller with the 1-DOF FOPID controller and sliding mode controller (SMC) for the RSIP system. Further to confirm the usability of the proposed controller and to avoid the random perturbations sensitivity, robustness, and stability analysis through fractional root-locus and Bode-plot is investigated.