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Indirect Approach for Closed-loop System Identification with Fractional Models

Indirect Approach for Closed-loop System Identification with Fractional Models. Tiebiao Zhao MESA (Mechatronics, Embedded Systems and Automation) Lab School of Engineering, University of California, Merced E : tzhao3@ucmerced.edu Phone: 209-2015212. June 30, 2014. Monday 4:00-6:00 PM

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Indirect Approach for Closed-loop System Identification with Fractional Models

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  1. Indirect Approach for Closed-loop SystemIdentification with Fractional Models Tiebiao Zhao MESA (Mechatronics, Embedded Systems and Automation)Lab School of Engineering, University of California, Merced E: tzhao3@ucmerced.edu Phone: 209-2015212 June 30, 2014. Monday 4:00-6:00 PM Applied Fractional Calculus Workshop Series @ MESA Lab @ UCMerced

  2. Limitations of Open-loop System Identification • Unstable open-loop system • Subject to significant drift in open-loop operation • The production recommendation do not allow the regulators to be removed AFC Workshop Series @ MESALAB @ UCMerced

  3. Identifying a closed-loop SISO • Indirect approach • Direct approach • Joint input/output approach AFC Workshop Series @ MESALAB @ UCMerced

  4. Assumption • All differentiation orders are supposed known a priori. • Only the coefficients of the closed-loop fractional transfer function are estimated. AFC Workshop Series @ MESALAB @ UCMerced

  5. Proposed Method • Indirect approach • A linear transformation is applied to the input and output signals to avoid the noise amplification. AFC Workshop Series @ MESALAB @ UCMerced

  6. Closed-loop parameter estimation • Discretization and linearization • Parameter estimation using ordinary least squares algorithm (OLS) • Parameter estimation using recursive least squares algorithm (RLS) • The Iterative Least Squares (IOLS and IRLS) AFC Workshop Series @ MESALAB @ UCMerced

  7. AFC Workshop Series @ MESALAB @ UCMerced

  8. AFC Workshop Series @ MESALAB @ UCMerced

  9. Open-loop Parameter Calculation AFC Workshop Series @ MESALAB @ UCMerced

  10. Results • Pseudo random binary sequence (PRBS) applied to the closed-loop system • Output corrupted by an additive gaussien white noise AFC Workshop Series @ MESALAB @ UCMerced

  11. Remarks • The results are biased at high levels of SNR. Future method like instrumental variable method. • How to identify fractional orders in closed-loop systems? • Is it possible to apply this method to obtain the parameters for online-tuning of the controllers? AFC Workshop Series @ MESALAB @ UCMerced

  12. Combined Fractional Feedback-FeedforwardController Design for Electrical Drives Tiebiao Zhao MESA (Mechatronics, Embedded Systems and Automation)Lab School of Engineering, University of California, Merced E: tzhao3@ucmerced.edu Phone: 209-2015212 June 30, 2014. Monday 4:00-6:00 PM Applied Fractional Calculus Workshop Series @ MESA Lab @ UCMerced

  13. Scheme of the Speed Control System Fractional PI Set-point filter Decoupling network AFC Workshop Series @ MESALAB @ UCMerced

  14. Position and speed control of DC-motor Position Speed AFC Workshop Series @ MESALAB @ UCMerced

  15. Unfiltered response Response with integer filters Fractional filters AFC Workshop Series @ MESALAB @ UCMerced

  16. Remarks • Apply this method in UAV including fractional PID and fractional feed-forward set-point filter AFC Workshop Series @ MESALAB @ UCMerced

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