Abstract: In order to achieve the purpose of high-performance control, fractional order PIλ controller is applied and implemented for DC double closed-loop control system. The optimal Proportional-Integral and fractional Proportional-Integral（PI/PIλ） controller parameters are turned by Particle Swarm Optimization（PSO） method. This paper emphasizes response speed and stability, in order to further analyze robustness of optimally designed PI and PIλ controllers, DC forward path gain increases up to 60%. Under the same conditions, simulation comparisons between the optimized PI and PIλ are presented to show that the designed fractional order PIλ controller outperforms the conventional optimal PI controller in response speed, stability and robustness performance.

Key words: Particle Swarm Optimization（PSO）, fractional order controller, DC double closed-loop control system, robustness

摘要： 将分数阶PIλ控制器应用在双闭环直流调速系统的速度调节器上，以提高调速系统的控制性能。PI和PIλ控制器参数的整定通过粒子群优化算法。重点研究了分数阶PIλ控制器作为速度控制器的双闭环直流调速系统的稳定性、快速性。为了分析比较两种控制器的鲁棒性，将系统的前向通道的增益增加了10%～60%，在相同条件下，对基于PI/PIλ的双闭环直流调速系统进行了仿真实验。仿真研究结果表明，采用分数阶PIλ控制器的双闭环直流调速系统的稳定性、快速性和鲁棒性均优于普通PI控制器的系统。

关键词: 粒子群, 分数阶控制器, 双闭环直流调速, 鲁棒性