Analytical design of fractional order PID controllers based on the fractional set-point weighted structure: Case study in twin rotor helicopter |
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| Affiliation: | 1. APAC Research Group, Industrial Control Center of Excellence, Faculty of Electrical Engineering, K.N. Toosi University of Technology, 16317-14191 Tehran, Iran;2. Faculty of Electrical Engineering, K.N. Toosi University of Technology, 16317-14191 Tehran, Iran;1. Department of Chemical Engineering, Curtin University, 98009 Miri, Sarawak, Malaysia;2. Curtin Sarawak Research Institute, Curtin University, 98009 Miri, Sarawak, Malaysia;1. Science and Research Branch, Islamic Azad University, Tehran, Iran;2. Faculty of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran |
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| Abstract: | In this paper, an analytical method for tuning the parameters of the set-point weighted fractional order PID (SWFOPID) controller is proposed. The studied control scheme is the filtered fractional set-point weighted (FFSW) structure. Also to achieve a desired closed-loop performance, a fractional order pre-filter is employed. The proposed method is applicable to stable plants describable by a simple three-parameter fractional order model. Such a model can be considered as the fractional order counterpart of a first order transfer function without time delay. Finally, the proposed method is implemented on a laboratory scale CE 150 helicopter platform and the results are compared with those of applying a filtered fractional order PI (FFOPI) controller in a similar structure. The practical results show the effectiveness of the proposed method. |
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| Keywords: | Fractional order PID controller Set-point weighted PID Fractional order filter Laboratory scale CE 150 helicopter |
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