文章基本信息

标题：Real Time Implementation of Optimized I-PD Controller for the Magnetic Levitation System using Jaya Algorithm
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作者：Debdoot Sain ; Subrat Kumar Swain ; Sudhansu Kumar Mishra 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：1
页码：106-111
DOI：10.1016/j.ifacol.2018.05.018
语种：English
出版社：Elsevier
摘要：AbstractDesigning a suitable controller for a nonlinear and unstable plant is always very challenging to the control system practitioners. In this article, Integral - Proportional Derivative (I-PD) controller has been designed and implemented in simulation and real time for the Magnetic levitation (Maglev) system which is both nonlinear and unstable in nature. The nonlinear Maglev plant has been linearized around the equilibrium point to obtain the linearized model transfer function. The objective function, which has been formulated by taking the modulus of the characteristic polynomial of the plant along with the controller at dominant pole location, has been minimized using the recently evolved Jaya algorithm. The performance of the I-PD controller has been compared with that of the 1-DOF and 2-DOF Integer Order (IO) and Fractional Order (FO) PID controller (Swain et al., 2017). The result of comparison reveals that the I-PD controller optimized using Jaya algorithm outperforms the other controllers in terms of time domain and frequency domain specifications except the phase margin criteria. The robustness analysis has also been incorporated in this study to show the robust behaviour of the I-PD controller.
关键词：KeywordsMaglevPIDI-PDOptimizationJaya