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Abstract—The aim of the paper is to present the simple Testing Festo MPS® PA Compact Workstation [16-18]
method of determining a fractional order controller to control causes practical training on industrial systems, project kits,
the pump in Festo MPS® PA Compact Workstation. Transfer stations, systems and training factories, what is seldom
function of the controller follows directly from using of Bode's possible in reality.
ideal transfer function as a reference one for the open loop
The goal of the present study is to develop the simplest as
system. Such systems generally are unsensitive to gain changes in
the open loop. In Festo MPS® PA Compact Workstation by using possible method of design of fractional order controller that
a corresponding controllers a level and a flow rate can be set up can be applied to control the pump in Festo MPS® PA
as a cascade control system. The design process allows to use Compact Workstation. The transfer function of the pump was
conventional continuous P, I, PI, PID controllers and appointed by identification method [16-18].
discontinuous controllers (two-point controllers). In the To our aim the Bode's ideal transfer function is used as a
presented study the fractional order controller is tested to obtain reference transfer function for the open loop system. The idea
parameters controller of this system. of this approach was proposed in [19] in the classical case and
in [20] for the fractional case. Theoretical approach in the
present study is based on the approach proposed in [21] and
Keywords—Festo MPS® PA Compact Workstation, fractional
order controller, Bode ideal transfer function, reference transfer
developed in [22-24] for a class of stable and unstable plants
function, phase margin with fractional order controllers. The form of the controller is
not impose, for every single investigated transfer function of
I. INTRODUCTION the object different form of the controller is given.
Recently the concept of fractional derivatives and II. THE LABORATORY STAND
differences is under strong consideration as a tool in
descriptions of behaviors of real systems. In control theory it The Festo MPS PA Compact Workstation shown in Fig.1
during last years one can observe a growing number of is a laboratory stand has been used to design fractional PID
applications of the fractional calculus, see for example [1-5]. controller. As we can see in the photo the stand composed
In natural way fractional order PID controllers, namely PIλDµ with a pump, many pipes, two tanks, other kinds sensors,
controllers, including an integrator of λ order and a actuators and PLC controller Siemens S7-300 allow to testing
of other types control systems.
differentiator of µ order, have received an attention in from
engineering point of view, see for example in [4-8]. In fact
such controllers are more robust to gain changes then classical
one. Since in a design process of fractional order controllers
usually five parameters should be to select, instead of three in
standard case, the tuning of the controller is more complicated.
Some design methods of tuning of PIλDµ controllers are
presented for example in [8-12].
One of the most developed approaches to design robust
and fractional order controllers is CRONE control
methodology, French acronym of ”Commande Robuste
d’Ordre Non Entier” (non-integer order robust control) [13-
15]. Fig.1 The photo of the laboratory stand Festo MPS PA Workstation
Fig.3. Scheme diagram of control system with negative feedback loop.
The Festo Didactic station allows to realize such control
system as: level, pressure, temperature and flow rate [25]. In where:
order to design FO controller the level control system has C(s) – the transfer function of the fractional order controller
chosen that scheme is shown in Fig.2. G(s) - transfer function of the pump,
As it can be seen in Fig.2 process of level control system is yr(s) - input,
realized by the pump P101 pumps liquid from tank B101 to y(s) - output
tank B102 and the ultrasonic sensor located on the top of the
tank B102. A measurement signal in the control system is The pump as a control plant is a first order plant described
level of liquid in tank B102 but a actuator signal is a voltage in following form:
applied to the pump. Also, taking into account Fig.2 we seen kp
that the control system could be disturbance by manually G ( s) = , (1)
1 + sτ
open/close the value 102 or the value 110.
where:
kp – the gain of the pump,
τ - the time constant (positive real number).
ω log ω
III. PROBLEM FORMULATION OF DESIGN FRACTIONAL ORDER arg K ( j ω ) j c
CONTOLLER
βπ
−
The process design of fractional order controller has been 2
realized with using the scheme diagram of control system φ m = π (1 − β / 2 )
shown in Fig.3. − π log ω
1.4
Next, taking into account (4) the real value α is calculated and
expressed by:
1.2
2φ
α = 2− m (6)
π
step response y(t) 1