Implementation and comparative analysis of fractional order PID Embedded Controllers, applied to speed control of a robotic prosthesis

摘要

, λ, μ). In order to fulfill the objective, three phases were executed: first, the several methodologies involved in the design and implementation of FOPID controllers were applied in an autonomous embedded system; then, they were implemented and applied to a mechatronic system; finally, the performance of the fractional controllers was analyzed and compared, the comparison of the controllers was performed based on the time parameters (settling time, overshoot), and the performance indexes (IAE, ITAE, ISE, and ITSE). As results of the present work: 14 types of fractional controllers were designed, of which 9 were implemented in an embedded system based on the multicore FPGA/Processor architecture, and the programming of the mathematical control functions were developed in LabVIEW FPGA and RT; after the experimental evaluation, the embedded controller with higher performance was the FOPID Ziegler-Nichols/Nelder-Mead/ISE, the results obtained were Ts = 0.22s and PO = 7.18%.