Robust Motion Control Using Combined Centralized Non-Integer Pre-Filter of Type FBLFD and Fractional Order Pdμ Controller

摘要

Designing and automation of a robust controller and pre-filter for multi-variable processes are a very challenging task. In this study, an automated and simple conception of multi- variable QFT (QFT: Quantitative Feedback Theory) is proposed using fractional order controllers design. Contrary to the traditional manual QFT design, our methodology consists of obtaining all required performances in QFT without going to the QFT loop shaping process.A non-integer order proportional derivative controller PDμ is conceived for a robust control of MIMO (Multi Input Multi Out- put) systems through multi-objective optimization based genetic algorithm . In the designed approach an implicit fractional order pre-filter FBLFD (FBLFD : Frequency Band Limited Fractional Differentiator) is adopted and its parameters are optimized. A diagonal version of this fractional order pre-filter and a non diagonal one are proposed. The problem of loop interactions is eliminated by the non diagonal designed pre-filter. Consequently, the procedure of fractional controller and pre-filter parameters optimization is illustrated. A comparative study and the efficiency of the developed methodologies are considered through SCARA robot.