Digital Signal Processor(DSP)-Based Variable Structure Control With Observer For Robot Manipulator

1987 ◽  
Author(s):  
Y. Dote
Processes ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 2132
Author(s):  
En-Chih Chang ◽  
Hung-Liang Cheng ◽  
Chien-Hsuan Chang ◽  
Rong-Ching Wu ◽  
Hong-Wei Xu ◽  
...  

This paper puts forward an optimal quick-response variable structure control with a single-phase sine-wave inverter application, which keeps harmonic distortion as low as possible under various conditions of loading. Our proposed solution gives an improvement in architecture in which a quick-response variable structure control (QRVSC) is combined with a brain storm optimization (BSO) algorithm. Notwithstanding the intrinsic resilience of a typical VSC with respect to changes in plant parameters and loading disruptions, the system state convergence towards zero normally proceeds at an infinitely long-time asymptotically, and chattering behavior frequently takes place. The QRVSC for ensuring speedy limited-time convergence with the system state to the balancing point is devised, whilst the BSO will be employed to appropriately regulate the parametric gains in the QRVSC for the elimination of chattering phenomena. From the mix of both a QRVSC together with a BSO, a low total harmonic distortion (THD) as well as a high dynamic response across different types of loading is generated by a closed-loop inverter. The proposed solution is implemented on a practicable single-phase sine-wave inverter under the control of a TI DSP (Texas Instruments Digital Signal Processor). It has experimentally shown the simulation findings as well as the mathematical theoretical analysis, displaying that both quick transient reaction as well as stable performance could be obtained. The proposed solution successfully inhibits voltage harmonics in compliance with IEEE 519-2014’s stringent standard of limiting THD values to less than 5%.


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