Analysis of a closed loop system with DC micro-motor electrical drive with propeller and variable- fractional order PID controller

摘要

In this paper a closed loop system with DC micro-motor electrical drive with propeller and variable- fractional order PID angular velocity controller is analyzed. As a plant mathematical model one takes fractional order linear time-invariant commensurate difference equation with a nonlinear static feedback. In the model a fractional order Grnwald Let-nikov backward difference is applied. In the analysis a novelty description of the closed-loop system is used. As a performance criterion of the closed loop system error one takes the Integral Square Error. The variable- fractional order PID controller is tuned to minimize the closed loop system error when the external disturbance (the external torque) is zero or nonzero. The investigations are supported by numerical examples.