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Laboratoire dAutomatique et dInformatique Industrielle
Ecole Superieure dIngenieurs de Poitiers
40, Ave du Recteur Pineau 86 022 Poitiers Cedex, France
Thierry.Poinot@esip.univ-poitiers.fr
Let us consider the Bode diagrams of an integrator The model (1) corresponds to a differential equa-
truncated in low and high frequencies (figure 1) tion, with 0 < n < 1:
(Lin et al., 2000; Lin, 2001; Trigeassou et al.,
dn y (t)
1999). + a0 y (t) = b0 u (t) (5)
dtn
It is composed of three parts. The intermediary
part corresponds to non-integer action, character- Let us define x (t) such as
ized by the order n. In the two other parts, the 1
integrator has a conventional action, characterized X (s) = U (s) (6)
sn + a0
by its order 1.
In this way, the operator In (s) is defined as Thus, we obtain a macro state-space represen-
a conventional integrator, except in a limited tation of this system.
band [b , h ] where it acts like s1n . The operator ( n
d x (t)
In (s) is defined using a fractional phase-lead filter = a0 x (t) + u (t) (7)
dtn
(Oustaloup, 1995) and an integrator 1s : y (t) = b0 x (t)
or equivalently using In (s)
b1
x1 = Gn (a0 xN +1 + u)
(8) u I n 2 s y
y = b0 xN +1 I n1 s b0
0.05
0.1
0 50 100 150 200
4.1 Numerical simulation using finite differences Time(s)
Let us consider a sphere with a radius rmax Fig. 4. Input and output of the model with I =
(figure 3). Divide the sphere in I blocks of same 2000
thickness . Then L = I and the ith block
where abscissa i is defined by i = i (i =
ri rmin ).
ri + 4.2 Fractional models identification
elementary
rmax ri
block Using data provided by the previous heat transfer
simulator, OE identification of models Hn (s) and
Hn1 ,n2 (s) are performed. Results are given in
Fig. 3. The sphere problem table 1.
Table 1. Identification results
Copper ball Enclosure with
Parameters Hn (s) Hn1 ,n2 (s) fixed temperature
a0 0.5072 0.0689
a1 - 0.7724
b0 0.0336 0.0041
b1 - 0.0447
n1 (n) 0.6237 0.8020
Heat
According to figure 5, the frequency responses of flux
these two models are compared with the frequency
response of H (s). The approximation obtained
with the model Hn1 ,n2 (s) is better than the
one obtained with the model Hn (s). The model
Hn1 ,n2 (s) is more able to explain the frequency Sensor
behaviour of the simulator H (s) (in its validity
domain) than the model Hn (s). According to
Power transistor : source of heat flux
figure 6, the improved model is also better to
approximate the time response particularly with
a low frequency input. Fig. 7. Experiment
From: In(1)
20
Input
40
H(s) 5
60 Hn (s) 4
To: Out(1)
80 3
100 2
1
120 Hn1 ,n2 (s)
0
140
0 0 200 400 600 800 1000 1200 1400 1600 1800 2000
Hn (s) Output
0.04
Hn1 ,n2 (s)
To: Out(1)
45 0.03
H(s)
0.02
0.01
90
4 2 0 2 4 6
10 10 10 10 10 10 0
0.01
0 200 400 600 800 1000 1200 1400 1600 1800 2000
Fig. 5. Bode plots of models H (s), Hn (s) and Time (s)