scholarly journals A New Adaptive Control for Five-Phase Fault-Tolerant Flux-Switching Permanent Magnet Motor

2016 ◽  
Vol 2016 ◽  
pp. 1-14
Author(s):  
Hongyu Tang ◽  
Wenxiang Zhao ◽  
Chenyu Gu
Keyword(s):  
Adaptive Control ◽  
Sliding Mode Control ◽  
Permanent Magnet ◽  
High Efficiency ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Backstepping Method ◽  
Control Laws ◽  
Mode Control

The five-phase fault-tolerant flux-switching permanent magnet (FT-FSPM) motor can offer high efficiency and high fault-tolerant capability. In this paper, its operation principle is presented briefly and its mathematical model is derived. Further, a new adaptive control for an FT-FSPM motor, based on the backstepping method and the sliding mode control strategy, is proposed. According to the backstepping method, the current controllers and voltage control laws are designed to track the speed and minimize the current static error, which enhance the dynamic response and the ability to suppress external disturbances. In order to overcome the influence of parameter variations, according to sliding mode control theory, the virtual control variables and the adaptive algorithm are utilized to approach uncertainty terms. Three Lyapunov functions are designed, and the stability of the closed-loop system is analyzed in detail. Finally, both simulation and experimental results are presented to verify the proposed control method.

scholarly journals Adaptive Backstepping Sliding Mode Control of Air-Breathing Hypersonic Vehicles

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Shuo Wang ◽  
Ju Jiang ◽  
Chaojun Yu
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Hypersonic Vehicles ◽  
Control Input ◽  
Backstepping Method ◽  
Trajectory Tracking Control ◽  
Air Breathing ◽  
Mode Control

In this paper, a controller combining backstepping and adaptive supertwisting sliding mode control method is proposed for altitude and velocity tracking control of air-breathing hypersonic vehicles (AHVs). Firstly, the nonlinear longitudinal model of AHV is introduced and transformed into a strict feedback form, to which the backstepping method can be applied. Considering the longitudinal trajectory tracking control problem (altitude control and velocity control), the altitude tracking control system is decomposed to several one-order subsystems based on the backstepping method, and an adaptive supertwisting sliding mode controller is designed for each subsystem, in order to obtain the virtual control variables and actual control input. Secondly, the overall stability of the closed-loop system is proved by the Lyapunov stability theory. At last, the simulation is carried out on an AHV model. The results show that the proposed controller has good control performances and good robustness in the parameter perturbation case.

Robust Control of Permanent Magnet Synchronous Motor: Synergetic Approach

2020 ◽  
Vol 21 (8) ◽  
pp. 480-488
Author(s):  
A. A. Kuz’menko
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Sliding Mode ◽  
System Stability ◽  
Stability Conditions ◽  
Rotor Speed ◽  
Control Laws ◽  
Mode Control ◽  
The Stability

Permanent magnet synchronous motors (PMSM) are widely used in practice due to its high-energy efficiency, compactness, reliability and high regulation performance. When controlling a PMSM rotor speed, the main control principle is the principle of cascade control with PI-regulators, which includes an external control loop for speed and two internal loops for stator currents along the (d, q)-axes. There are attempts to eliminate the disadvantages of this principle using for the control laws synthesis of modern methods of nonlinear control such methods as linearization feedback, backstepping, predictive control, sliding mode control, methods of robust and adaptive control, fuzzy and neural network control, a combination of these methods etc. However, in most cases, the use of these methods are intended to by means of an appropriate method to synthesize a static or dynamic set points for the standard PI-controllers of rotor speed and currents. In this paper we propose to consider two approaches of synergetic control theory (SCT) to construct a robust control law of PMSM: a sliding mode control laws design by the SCT method with subsequent invariant manifolds aggregation and the principle of integral adaptation (PIA). These approaches implement vector control and are not guided by the standard structure of the principle of cascade regulation of PMSM. The proposed approaches simplify the stability analysis of the closed-loop system: stability conditions consist of stability conditions of functional equations of SCT and the stability conditions for finish decomposed system, which the dimension is substantially less than the dimension of the original system. From the results of the comparisons of synthesized the PMSM robust control laws, we can say that more preferable laws synthesized in accordance with the PIA. The theoretical positions of this paper are illustrated by the results of modeling, which are showing the fulfillment of the control tasks: the achievement of targets, robustness to the change of the PMSM load moment.

Research on trajectory planning of closed loop grouting robot

2021 ◽  
Vol 13 (11) ◽  
pp. 168781402110534
Author(s):  
Runmei Zhang ◽  
Rui Ren ◽  
Guan Luo ◽  
Shuai Li ◽  
Lijun Bi ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Planning ◽  
Closed Loop ◽  
High Efficiency ◽  
Control Method ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Adaptive Sliding Mode Control ◽  
A Algorithm ◽  
Mode Control

In order to promote building intelligence and solve the disadvantages of traditional grouting technology, the trajectory planning of closed-loop grouting robot was designed. The minimumsnap optimization function was used to optimize the A* algorithm to realize the 2D trajectory planning, which could obtain a smooth, continuous route, and planning diagram of time distribution, speed, acceleration, and jerk. Further, the weight function of the improved A* algorithm was adjusted to perform 3D trajectory planning to reduce redundant nodes in the route. A new approaching law adaptive sliding mode control method was used to achieve precise trajectory tracking of the robotic arm and reduce the problem of chattering in sliding mode control. Through the design of closed-loop grouting robot and the research of trajectory planning, the two-dimensional and three-dimensional paths of grouting robot could be optimized. The system could realize automatic grouting operation. It could promote the development of high efficiency and safety in the construction grouting industry.

scholarly journals Data Driven Model-Free Adaptive Control Method for Quadrotor Formation Trajectory Tracking Based on RISE and ISMC Algorithm

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1289
Author(s):  
Dongdong Yuan ◽  
Yankai Wang
Keyword(s):  
Adaptive Control ◽  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Data Driven ◽  
Trajectory Tracking Control ◽  
Mode Control ◽  
Model Free

In order to solve the problems of complex dynamic modeling and parameters identification of quadrotor formation cooperative trajectory tracking control, this paper proposes a data-driven model-free adaptive control method for quadrotor formation based on robust integral of the signum of the error (RISE) and improved sliding mode control (ISMC). The leader-follower strategy is adopted, and the leader realizes trajectory tracking control. A novel asymptotic tracking data-driven controller of quadrotor is used to control the system using the RISE method. It is divided into two parts: The inner loop is for attitude control and the outer loop for position control. Both use the RISE method in the loop to eliminate interference and this method only uses the input and output data of the unmanned aerial vehicle(UAV) system and does not rely on any dynamics and kinematics model of the UAV. The followers realize formation cooperative control, introducing adaptive update law and saturation function to improve sliding mode control (SMC), and it eliminates the general SMC algorithm controller design dependence on the mathematical model of the UAV and has the chattering problem. Then, the stability of the system is proved by the Lyapunov method, and the effectiveness of the algorithm and the feasibility of the scheme are verified by numerical simulation. The experimental results show that the designed data-driven model-free adaptive control method for the quadrotor formation is effective and can effectively realize the coordinated formation trajectory tracking control of the quadrotor. At the same time, the design of the controller does not depend on the UAV kinematics and dynamics model, and it has high control accuracy, stability, and robustness.

scholarly journals A Speed Disturbance Control Method Based on Sliding Mode Control of Permanent Magnet Synchronous Linear Motor

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 82424-82433 ◽  
Author(s):  
Dan Jiang ◽  
Wenxin Yu ◽  
Junnian Wang ◽  
Yanming Zhao ◽  
Yan Li ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Permanent Magnet ◽  
Control Method ◽  
Sliding Mode ◽  
Linear Motor ◽  
Mode Control
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