Title: Velocity control of a DC motor based on fractional order PI and IMC-based fractional order controllers
Authors: Saeed Heydarpoor; Mohammad Tabatabaei
Addresses: Department of Electrical Engineering, Khomeinishahr Branch, Islamic Azad University, Isfahan, Iran ' Department of Electrical Engineering, Khomeinishahr Branch, Islamic Azad University, Isfahan, Iran
Abstract: In this paper, two fractional order controllers are employed to control the angular velocity of a permanent magnet DC motor. A fractional order PI controller with isodamping property is appropriately designed to achieve the desired phase margin and gain crossover frequency requirements. Moreover, by selecting a fractional order filter in internal model control (IMC) structure, an IMC-based fractional order controller is designed. These two fractional order controllers are utilised for velocity control of a laboratory DC servomechanism system. The experimental results demonstrate the capability of these fractional order controllers in the desired angular velocity tracking and load disturbance rejection.
Keywords: fractional order PI control; permanent magnet DC motors; PMDC; internal model control; IMC; fractional calculus; velocity control; speed control; angular velocity; controller design; DC servomechanisms.
International Journal of Advanced Mechatronic Systems, 2016 Vol.7 No.1, pp.35 - 45
Received: 15 Jan 2016
Accepted: 13 Jul 2016
Published online: 04 Oct 2016 *