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frequency of a band of frequencies geometrically distributed The transfer function of reference model is given by the
around it .That is, = , where , are the high and following function:
2
the low transitional frequencies. The parameters used in the () = (+)2 () = () () (23)
Oustaloup approximation are:
2
With: () = (24)
G (p): Transfer function of local model of process. 2 +1 +0
N: Approximation order.
r1=- & r2=: Integration & derivative order IV. SIMULATION
respectively.
The simulation is done in continuous time around the
l=10-2; low transitional frequency following operating points s0=0rad, s0=/3rad and
h=103; high transitional frequency s0=2/3rad. the parameters (Kp, Ki, Kd) of FOPID and FOPI
u=10; Cutoff frequency are by determined with =1 and =1. The FOPID and FOPI
For the adjustment fractional parameters controller PI (Kc, structure is represented by the following figure.
Ti, ) we us the following algorithm [22][23]:
Step1: calculate the parameters i for 0 i 2
1
0 = , 1 =2
, 2 =
42 4
(15)
The simulation parameters around the operating points
1 =
=0() () (17) chosen are:
TABLE I. PARAMETERS OF THE LOCAL CONTROLLER
Fig. 6. Outputs of the process and the reference model with FOPI controller.
Fig. 11. Frequency response of each closed loop local system with FOPI.
Fig. 16. Pole Zero map for closed loop. (s=2/3) with FOPID controller.
Fig. 12. Control error ec (t) with FOPID controller.
Fig. 18. Frequency response of each closed loop local system with FOPID.
Fig. 14. Pole Zero map for closed loop. (s =0) with FOPID controller.
Fig. 15. Pole Zero map for closed loop. (s =/3) with FOPID controller. Fig. 19. Error control with FOPID and FOPI controller in (s=0).
With the obtained results with the FOPI we can noted: [4] J-M. Duchamp, "Commutation Floue de lois de Commande applique la
Robotique". Rapport de DEA , LAMII /CESALP, 1998.
Each local system is stable (fig.7, fig.8 and fig.9) and error
[5] J.J.E. Slotine, "Applied Nonlinear Control". Prentice-Hall
control given by closed loop system around s0=0 is very International, 1991, ISBN: 0-13-040049.
small compared other local system (fig.5, fig.6) [6] A. Karimi and I-D. Landau, "Robust Adaptive Control of a Flexible
The closed output loop of the local system around s0=0 has Transmi ssion System Using Multiple Models". Laboratoire
the same curve although the output of the reference model dAutomatique de Grenoble (CNRS-INPG-UJF). Design-CSD, 1998.
compared with other local system (fig.5.b, fig.6.b, fig7.b). [7] O. Pags, P. Mouille and B. Caron, "Two approaches of the multi-
The local controller around s0=0 is more robust model control. Real time Implementation for a wrist of a Robot".
Mechatronics 2000, 1s t IFAC Conference on mechatronic systems,
compared with other local controller fig.10 and more stable in
Darmstadt, Allemagne, Septembre, 2000.
closed loop system fig 11 and the order of FOPI controller
[8] R Toscano., D. Martin-Calle and P. Passerieu, "Adaptation
equal 4 and 6 for closed Function transfer loop. paramtrique floue dune commande au premier ordre en fonction du
With the obtained results with FOPID controller we can point dquilibre courant". Laboratoire dAutomatique E.N.I St
observed that: ETIENNE LFA97 -Lyon-dcembre, pp.3-10.
The same illustrated results with the FOPI controller on [9] A. Djouambi, A. Charef, A.V. Bensanon, Optimal approxi mation,
stability, robustness and precision (fig.12 until fig.18). simulation and analog realization of the fundamental fractional order
The order of FOPID controller equal 22 and 24 for transfer function. International Journal Applied
Math.Comput.Sci.,2007, vol 17, N 4, pp.455-462.
closed Function transfer loop
[10] B. Vinagre, A. Podlubny, A.Hernandez, V. Feliu, Some
The order of FOPID controller equal : approximations of fractional operators used in control theory and
applications, Fractional calculus App. Anal. Vol. 3, no 3, pp 231-248,
N=1 N=2 N=3 N=4 N=6 2000.
order 6 10 14 18 22 [11] W. Yuquan, Fractional Order PID design for Nonlinear Motion
We also found that the change of and don't affect the Control Based on adept 550 Robot. . Proceedings of The 2011 IAJC-
ASEE International Conference. ISBN 978-1-60643-379-9, P.17.
order controller.
[12] R.L. Bagley and R.A. Calico, "Fractional Order State Equations for the
Control of Viscoelastically Damped Structures". J.Guidance, vol. 14,
V. CONCLUSION no. 5 pp.304-311, 1991.
In this work, we have presented the modeling of nonlinear [13] D. Matignon, "Generalized Fractional Differential and Difference
process (wrist of RX90 Stubli Robot). After that the local Equations: Stability Properties and Modelling Issues". Proc. of
linear model near each considered operating points has been Math.Theory of Net works and Systems Symposi um, Padova, Italy,
calculated. We have describe the Fractional-order PID and PI 1998.
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method) respectively. After simulation we noted that the
[15] Y. Luo, Y.Q. Chen, "Fractional-order [proportional derivative]
application of CRON structure control is very interesting in this controller for robust motion control: Tuning procedure and validation,"
case of system but we need more optimal approximation for American Control Conference, 2009. ACC '09. , vol., no., pp.1412-1417,
order minimization and chose of FOPID or of PI parameters. 10-12 June 2009.
The results obtained allow concluding that the local controllers [16] D. Xue, C. Zhao, Y.Q. Chen, "A Modified Approximation Method of
give good results around the operating points. The results Fractional Order System," Mechatronics and Automation, Proceedings
obtained allow concluding too that the results obtained with of the 2006 IEEE International Conference on , vol., no., pp.1043-1048,
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FOPID are more interesting as compared FOPI. But the results
[17] Y.Zennir, P. Mouille, Multi-controllers approach applied to a wrist of
are local. Therefore, we must seek a collaborative approach a robot .25 European Modeling and Simulation Symposium
these local control laws to obtain good results in all operating (EMSS2013),p.6.
space. Finally we will study at the future work other [18] K. Hamdaoui, " Implmentation analogique et numrique de
approximation Fractional-order controller method with drivateur et intgrateur d'ordre fractionnaire", Mmoire de Magister,
optimization chose of parameters controller. And frank Universit de Constantine, 2006, p65.
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