Szczegóły publikacji
Opis bibliograficzny
A fractional LQI controller for a magnetic levitation system / Andrzej TUTAJ, Waldemar BAUER, Paweł PIĄTEK, Jerzy BARANOWSKI, Panagiotis Bertsias, Stavroula Kapoulea, Costas Psychalinos // W: MMAR 2021 [Dokument elektroniczny] : 2021 25th international conference on Methods and Models in Automation & Robotics : August 23–26, 2021, Międzyzdroje, Poland. — Wersja do Windows. — Dane tekstowe. — [Piscataway] : IEEE, cop. 2021. — e-ISBN: 978-1-7281-7380-1. — S. 263–268. — Wymagania systemowe: Adobe Reader. — Bibliogr. s. 268, Abstr.
Autorzy (7)
- AGHTutaj Andrzej
- AGHBauer Waldemar
- AGHPiątek Paweł
- AGHBaranowski Jerzy
- Bertsias Panagiotis
- Kapoulea Stavroula
- Psychalinos Costas
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 136609 |
|---|---|
| Data dodania do BaDAP | 2021-10-01 |
| Tekst źródłowy | URL |
| DOI | 10.1109/MMAR49549.2021.9528486 |
| Rok publikacji | 2021 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Wydawca | Institute of Electrical and Electronics Engineers (IEEE) |
Abstract
A magnetic levitation plant is a fast, unstable, nonlinear mechatronic system vulnerable to measurement noise and external interference. Designing a high-performance and robust controller for such system, immune to noise and disturbances, and ensuring a wide operating region, is a challenging task. One can chose a well-know LQI controller, designed based on a linearized plant model, to stabilise the system and to eliminate the steady-state error. However, large plant-model mismatch and considerable non-linearity of the system may limit the control quality provided by such a solution. To improve the system performance one can introduce some additional degrees of freedom by replacing the integer order integrator with a fractional one. For practical implementation, the latter may be approximated with an integer-order realisation obtained with the time-domain Oustaloup method. The paper explains the idea of an LQIβ controller, presents selected results of simulation tests of the closed-loop control system behaviour, and provides discussion of possible applications and advantages of the proposed approach.
