EPE Association: EPE-PEMC 2008 - Topic: Sliding Mode Control in Electrical Drive

EPE-PEMC 2008 - Topic: Sliding Mode Control in Electrical Drive
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Sliding Mode Control in Electrical Drive

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   A Comparison of Position Control Structures for Ironless Linear Synchronous Motor
By Martin Hrasko [View]
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Abstract: Comparison of two position control systems for ironless linear synchronous motor with permanent magnets is presented. The first control system is based on classic cascade structure, comprising inner current and speed loop with PI controllers, and an outer position control loop with controller with variable parameter P. The other control system is similar as the first one. Furthermore, its outer loop is based on sliding mode control principles. The paper compares abilities of these two structures for high precise position control focused on high steady state accuracy at full load range. Simulations results and experimental verifications are presented as well.

   A Comparison of Sliding Mode Approaches to a Nanometre Position Control Application
By Paul Andreas Stadler [View]
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Abstract: A vacuum air bearing based linear drive is presented that is capable of precision positioning with a relative accuracy of a few nanometres. Three different control systems embodying Sliding Mode Control (SMC) are compared by simulation and experiment regarding their individual positioning performance. The three control designs investigated are high gain SMC, a first order and a second order version of outer loop SMC where the inner loop consists of a Forced Dynamic Control law (FDC, a special form of state space controller) applied to the linear drive to be positioned.

   Control of Two-Mass Positioning System Based on Discrete-Time Sliding Mode Approach
By Stefan Brock

Abstract: In the paper the problem of damping of torsional vibrations in high dynamic servo drives is presented. The time delays introduced into speed control loop due to digital control are modelled. A vibration damping method based on a vibration filter and a discrete-time sliding mode control is investigated in this paper. The vibration in the system is suppressed by a low pass filter within the disturbance compensation loop. Only a single position feedback device, on the motor side, is provided. The simulation results are presented to illustrate the achievable control performance of used scheme.

   Sliding Mode Control of PMSM Drives Subject to Torsion Oscillations in the Mechanical Load
By Stephen J. Dodds [View]
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Abstract: A control system for permanent magnet synchronous motor electric drives with a significant torsion vibration mode is presented based entirely on sliding mode principles to achieve robustness against external load torques and parametric modelling uncertainties in the motor and/or the driven mechanical load. The sliding mode control law respects the vector control condition by keeping the direct axis current component approximately zero as well as controlling either the rotor or load position to follow the demanded position with prescribed closed loop dynamics. When controlling the load position, the torsional oscillations are completely eliminated. To avoid control chatter, a boundary layer is introduced by replacing the relay control switching transfer characteristic (signum function) by a high gain with the same control saturation limits. The user is only required to provide the demanded position and specify the settling time of the step response, no controller tuning being necessary. The simulations predict that the desired robustness will be achieved.

   Sliding Mode Vector Control of PMSM Drives with Minimum Energy Position Following
By Stephen J. Dodds [View]
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Abstract: The original contribution of this paper is the direct use of a six switch inverter as the switching element of a multivariable sliding mode controller to achieve vector control for permanent magnet synchronous motor drives precisely realising a prescribed dynamic response to the rotor speed reference inputs. The extreme robustness against changes in the mechanical load parameters and external disturbance torques enables the user to set up the drive without any controller tuning, the only information required being the prescribed position step response settling time. The only information needed to design the controller is the relative degree (i.e., rank) of the plant with respect to the controlled outputs, i.e., the rotor speed and the direct axis current vector component. An outer position control loop is closed and a zero dynamic lag pre-compensator applied to achieve precise following of a pre-planned rest-to-rest manoeuvre that minimises the frictional energy loss for a given position change and manoeuvre time. Simulations predict that despite no knowledge of the load moment of inertia or the viscous friction coefficient, a) the precisely defined closed loop dynamics of the position step response is attained, b) precise following of pre-planned rest to rest manoeuvres is attained and c) step load torques cause negligible transient position errors.

EPE-PEMC 2008 - Topic: Sliding Mode Control in Electrical Drive
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Sliding Mode Control in Electrical Drive
	[return to parent folder]

	A Comparison of Position Control Structures for Ironless Linear Synchronous Motor By Martin Hrasko	[View] [Download]
Abstract: Comparison of two position control systems for ironless linear synchronous motor with permanent magnets is presented. The first control system is based on classic cascade structure, comprising inner current and speed loop with PI controllers, and an outer position control loop with controller with variable parameter P. The other control system is similar as the first one. Furthermore, its outer loop is based on sliding mode control principles. The paper compares abilities of these two structures for high precise position control focused on high steady state accuracy at full load range. Simulations results and experimental verifications are presented as well.

	A Comparison of Sliding Mode Approaches to a Nanometre Position Control Application By Paul Andreas Stadler	[View] [Download]
Abstract: A vacuum air bearing based linear drive is presented that is capable of precision positioning with a relative accuracy of a few nanometres. Three different control systems embodying Sliding Mode Control (SMC) are compared by simulation and experiment regarding their individual positioning performance. The three control designs investigated are high gain SMC, a first order and a second order version of outer loop SMC where the inner loop consists of a Forced Dynamic Control law (FDC, a special form of state space controller) applied to the linear drive to be positioned.

	Control of Two-Mass Positioning System Based on Discrete-Time Sliding Mode Approach By Stefan Brock
Abstract: In the paper the problem of damping of torsional vibrations in high dynamic servo drives is presented. The time delays introduced into speed control loop due to digital control are modelled. A vibration damping method based on a vibration filter and a discrete-time sliding mode control is investigated in this paper. The vibration in the system is suppressed by a low pass filter within the disturbance compensation loop. Only a single position feedback device, on the motor side, is provided. The simulation results are presented to illustrate the achievable control performance of used scheme.

	Sliding Mode Control of PMSM Drives Subject to Torsion Oscillations in the Mechanical Load By Stephen J. Dodds	[View] [Download]
Abstract: A control system for permanent magnet synchronous motor electric drives with a significant torsion vibration mode is presented based entirely on sliding mode principles to achieve robustness against external load torques and parametric modelling uncertainties in the motor and/or the driven mechanical load. The sliding mode control law respects the vector control condition by keeping the direct axis current component approximately zero as well as controlling either the rotor or load position to follow the demanded position with prescribed closed loop dynamics. When controlling the load position, the torsional oscillations are completely eliminated. To avoid control chatter, a boundary layer is introduced by replacing the relay control switching transfer characteristic (signum function) by a high gain with the same control saturation limits. The user is only required to provide the demanded position and specify the settling time of the step response, no controller tuning being necessary. The simulations predict that the desired robustness will be achieved.

	Sliding Mode Vector Control of PMSM Drives with Minimum Energy Position Following By Stephen J. Dodds	[View] [Download]
Abstract: The original contribution of this paper is the direct use of a six switch inverter as the switching element of a multivariable sliding mode controller to achieve vector control for permanent magnet synchronous motor drives precisely realising a prescribed dynamic response to the rotor speed reference inputs. The extreme robustness against changes in the mechanical load parameters and external disturbance torques enables the user to set up the drive without any controller tuning, the only information required being the prescribed position step response settling time. The only information needed to design the controller is the relative degree (i.e., rank) of the plant with respect to the controlled outputs, i.e., the rotor speed and the direct axis current vector component. An outer position control loop is closed and a zero dynamic lag pre-compensator applied to achieve precise following of a pre-planned rest-to-rest manoeuvre that minimises the frictional energy loss for a given position change and manoeuvre time. Simulations predict that despite no knowledge of the load moment of inertia or the viscous friction coefficient, a) the precisely defined closed loop dynamics of the position step response is attained, b) precise following of pre-planned rest to rest manoeuvres is attained and c) step load torques cause negligible transient position errors.