EPE Association: EPE-PEMC 2000 - Topic 09c: Adaptive and Robust Control

EPE-PEMC 2000 - Topic 09c: Adaptive and Robust Control
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2000 - Conference > EPE-PEMC 2000 - Topic 09: Motion Control > EPE-PEMC 2000 - Topic 09c: Adaptive and Robust Control

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   Active Damping of Electric Vehicle Drivetrain Oscillations
By Menne M., De Doncker R.W. [View]
[Download]

Abstract: Torsional oscillations are a phenomenon that can be observed within every rotating mechanical system, also in traction applications. Due to the low damping of steel the oscillations abate slowly. Moreover, it is usually difficult to increase the damping coefficients mechanically. Hence, the concept of active damping through modifying the electrical drive control becomes attractive. To develop a sufficient damping controller, an analysis of the mechanical oscillating system is important to localize the stiffness elements with highest potential energy at each system eigenfrequency. Increasing the damping coefficient of the element with greatest influence on the dominant eigenfrequency therefore has the highest impact on the damping of this frequency. Therefore, a control algorithm based on an added physical damping term is suggested. To obtain the state variables, that are required for the control but which cannot be measured, the design of an appropriate observer is discussed. The result is a robust and stable active damping control for purely current controlled electrical traction drives.

   Fuzzy Adaptive Feedback and Feedforward Speed Controller for Tracking Control of Servo Drives
By Fetyko J., Kron S. [View]
[Download]

Abstract: The high precision motion control of electric servo drives for tracking of a time-varying reference trajectories can be realised on the basis of the conventional feedback control system or state-feedback control system combined with the feedforward control. The paper deals with fuzzy adaptation of that control systems for varying load inertia and load torque.

   Investigation of Sliding Mode Position Servodrive Control
By Vincze K., Számel L., Halász S., Schmidt I. [View]
[Download]

Abstract: The theoretical and experimental investigation of servo drives with a sliding mode position control is given. The sliding mode control (SMC) prescribes the position, speed and acceleration (deceleration) time functions and the quality of the drive transient phenomena as well. The control surface is performed by given four sliding mode errors: position, speed, acceleration and deceleration errors. It is shown that the smooth control is insured. The simulation and experimental results of the sliding mode controlled dc chopper drive verify the theoretical results.

   Robust Control of an Asynchronous Motor
By Balara L., Zboray L. [View]
[Download]

Abstract: State control enables analytical controller design for drive systems described by a set of differential equations with known and constant parameters. However, real systems include uncertain parameters which either vary during operation or are inaccurately given. Then robust controllers may ensure stability and the desired form of transients. This paper applies a system order reduction and pole region assignment method for robust control of an asynchronous motor.

   Robust Position Control with Induction Motor
By Dodds S.J.*, Vittek J. [View]
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Abstract: A new position control system for electric drives employing induction motors is presented to allow operation of the drive at low speeds and small torque conditions. System combines robust position outer control loop with the forced dynamics speed control. The load torque and rotor speed estimates from the observer are used to detect the 'low rotor speed, small load torque' operational conditions for switch onto position control. If such conditions are detected a special 'low speed low torque' function is used to super-impose a sinusoidal angular acceleration demand at a chosen frequency and at an amplitude such that the resulting position oscillations fall within the specified limits of the control system. Simulation results presented show good correspondence with theoretical predictions.

   Robust Speed and Position Control of PMSM Using Modified Sliding Mode Method
By Brock S., Deskur J., Zawirski K. [View]
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Abstract: In the paper a problem of robust speed and position control of permanent magnet synchronous motor is analysed. The idea of proposed control bases of some modification of conventional sliding mode control method. Introduction of an integral module and low pass filters leads to fast system dynamics of slight sensitivity to load parameters variation, effective chattering reduction and elimination of steady state control error. Optional module of fuzzy adaptive mechanism, tuning a switching gain of sliding mode controller, reduces a dynamic error of speed control caused by change of load torque. Results of simulation and experimental investigation proved good quality of speed and position control.

   Robustness of Fuzzy-Logic Control with Simple Parameter Adaptation for DC Motor Drive System
By Orlowska-Kowalska T., Jaszczak K., Szabat K. [View]
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Abstract: In the paper the possibilities of drive inertia compensation by simple correction of scaling factors for FL controller are demonstrated. The speed control system for DC motor is presented where fuzzy-logic controller is equipped with additional option for on-line tuning its chosen parameters. The analysis of the dynamic properties of the drive system with FL speed controller was performed from the point of view its sensitivity to rotor inertia changes in the wide range. The most suitable solution for simple tuning of FL controller parameters was proposed and whole system was checked in simulation tests.

   Using of Sliding Mode Based Disturbance Compensation to Elimination Ripple of Speed in Permanent Magnets Synchronous Motor
By Brock S. [View]
[Download]

Abstract: Permanent magnet synchronous machines generate parasitic torque pulsation owing to distortion of the stator flux linkage distribution and secondary phenomena. The consequence is speed ripple. The paper presents the ripple speed elimination method, which is based on sliding mode disturbance compensation. The PMSM is forced to follow an ideal model without speed ripple. Comparative simulation results are presented.

EPE-PEMC 2000 - Topic 09c: Adaptive and Robust Control
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2000 - Conference > EPE-PEMC 2000 - Topic 09: Motion Control > EPE-PEMC 2000 - Topic 09c: Adaptive and Robust Control
	[return to parent folder]

	Active Damping of Electric Vehicle Drivetrain Oscillations By Menne M., De Doncker R.W.	[View] [Download]
Abstract: Torsional oscillations are a phenomenon that can be observed within every rotating mechanical system, also in traction applications. Due to the low damping of steel the oscillations abate slowly. Moreover, it is usually difficult to increase the damping coefficients mechanically. Hence, the concept of active damping through modifying the electrical drive control becomes attractive. To develop a sufficient damping controller, an analysis of the mechanical oscillating system is important to localize the stiffness elements with highest potential energy at each system eigenfrequency. Increasing the damping coefficient of the element with greatest influence on the dominant eigenfrequency therefore has the highest impact on the damping of this frequency. Therefore, a control algorithm based on an added physical damping term is suggested. To obtain the state variables, that are required for the control but which cannot be measured, the design of an appropriate observer is discussed. The result is a robust and stable active damping control for purely current controlled electrical traction drives.

	Fuzzy Adaptive Feedback and Feedforward Speed Controller for Tracking Control of Servo Drives By Fetyko J., Kron S.	[View] [Download]
Abstract: The high precision motion control of electric servo drives for tracking of a time-varying reference trajectories can be realised on the basis of the conventional feedback control system or state-feedback control system combined with the feedforward control. The paper deals with fuzzy adaptation of that control systems for varying load inertia and load torque.

	Investigation of Sliding Mode Position Servodrive Control By Vincze K., Számel L., Halász S., Schmidt I.	[View] [Download]
Abstract: The theoretical and experimental investigation of servo drives with a sliding mode position control is given. The sliding mode control (SMC) prescribes the position, speed and acceleration (deceleration) time functions and the quality of the drive transient phenomena as well. The control surface is performed by given four sliding mode errors: position, speed, acceleration and deceleration errors. It is shown that the smooth control is insured. The simulation and experimental results of the sliding mode controlled dc chopper drive verify the theoretical results.

	Robust Control of an Asynchronous Motor By Balara L., Zboray L.	[View] [Download]
Abstract: State control enables analytical controller design for drive systems described by a set of differential equations with known and constant parameters. However, real systems include uncertain parameters which either vary during operation or are inaccurately given. Then robust controllers may ensure stability and the desired form of transients. This paper applies a system order reduction and pole region assignment method for robust control of an asynchronous motor.

	Robust Position Control with Induction Motor By Dodds S.J., Vittek J.*	[View] [Download]
Abstract: A new position control system for electric drives employing induction motors is presented to allow operation of the drive at low speeds and small torque conditions. System combines robust position outer control loop with the forced dynamics speed control. The load torque and rotor speed estimates from the observer are used to detect the 'low rotor speed, small load torque' operational conditions for switch onto position control. If such conditions are detected a special 'low speed low torque' function is used to super-impose a sinusoidal angular acceleration demand at a chosen frequency and at an amplitude such that the resulting position oscillations fall within the specified limits of the control system. Simulation results presented show good correspondence with theoretical predictions.

	Robust Speed and Position Control of PMSM Using Modified Sliding Mode Method By Brock S., Deskur J., Zawirski K.	[View] [Download]
Abstract: In the paper a problem of robust speed and position control of permanent magnet synchronous motor is analysed. The idea of proposed control bases of some modification of conventional sliding mode control method. Introduction of an integral module and low pass filters leads to fast system dynamics of slight sensitivity to load parameters variation, effective chattering reduction and elimination of steady state control error. Optional module of fuzzy adaptive mechanism, tuning a switching gain of sliding mode controller, reduces a dynamic error of speed control caused by change of load torque. Results of simulation and experimental investigation proved good quality of speed and position control.

	Robustness of Fuzzy-Logic Control with Simple Parameter Adaptation for DC Motor Drive System By Orlowska-Kowalska T., Jaszczak K., Szabat K.	[View] [Download]
Abstract: In the paper the possibilities of drive inertia compensation by simple correction of scaling factors for FL controller are demonstrated. The speed control system for DC motor is presented where fuzzy-logic controller is equipped with additional option for on-line tuning its chosen parameters. The analysis of the dynamic properties of the drive system with FL speed controller was performed from the point of view its sensitivity to rotor inertia changes in the wide range. The most suitable solution for simple tuning of FL controller parameters was proposed and whole system was checked in simulation tests.

	Using of Sliding Mode Based Disturbance Compensation to Elimination Ripple of Speed in Permanent Magnets Synchronous Motor By Brock S.	[View] [Download]
Abstract: Permanent magnet synchronous machines generate parasitic torque pulsation owing to distortion of the stator flux linkage distribution and secondary phenomena. The consequence is speed ripple. The paper presents the ripple speed elimination method, which is based on sliding mode disturbance compensation. The PMSM is forced to follow an ideal model without speed ripple. Comparative simulation results are presented.