FOPID Controller Prototype

Fol­low­ing research
Since this is a pro­to­type, the form fac­tor is not opti­mal.
of imple­men­ta­tion of dig­i­tal frac­tion­al-order con­trollers, I built a pro­to­type con­troller. The PLC mod­ule is based on the STM32F407 micro­con­troller. The i/o mod­ule was designed to sup­port some indus­try stan­dard inter­faces and has the fol­low­ing fea­tures:

  • Ther­mo­cou­ple input, sup­port­ing type K ther­mo­cou­ples;
  • Volt­age input, range: $\pm$10 V;
  • Cur­rent loop out­put: 0(4)$\dots$20 mA;
  • Volt­age out­put: range $\pm$10 V;
  • Sam­ple res­o­lu­tion: 12 bit on alanog chan­nels; 14 bit res­o­lu­tion of the ther­mo­cou­ple con­vert­er;
  • Sam­ple rate: up to 10kSPS;
  • Ref­er­ence volt­age: pre­ci­sion; on-board.

This set­up allows to con­duct exper­i­ments with lab­o­ra­to­ry equip­ment. An exam­ple exper­i­ment with the mag­net­ic lev­i­ta­tion sys­tem can be seen in this video.

Details about the imple­men­ta­tion can be found in my Ph.D. the­sis11A. Tepl­jakov, Frac­tion­al-order Mod­el­ing and Con­trol of Dynam­ic Sys­tems. Springer Inter­na­tion­al Pub­lish­ing, 2017..