Fractional-order discrete model of an independent wheel electrical drive of the autonomous platform

摘要

In the paper the linear time-invariant fractional-order models of the separated wheel closed-loop electrical drive of the autonomous platform are considered.As a reference model one considers the classical model described by the second-order linear difference equation.Two discrete-time fractional-order models are considered: non-commensurate and commensurate.According to the sum of the squared error criterion(SSE)one compares two-parameter integer-order model with the four-parameter non-commensurate and three-parameter commensurate fractional-order ones.Three mathematical models are built and simulated.The computer simulation results are compared with measured velocity of the real autonomous platform separate wheel closed-loop electrical drive.