scholarly journals Sub-Optimal Second-Order Sliding Mode Controller Parameters’ Selection for a Positioning System with a Synchronous Reluctance Motor

Energies ◽  
2019 ◽  
Vol 12 (10) ◽  
pp. 1855 ◽  
Author(s):  
Rajko Svečko ◽  
Dušan Gleich ◽  
Amor Chowdhury ◽  
Andrej Sarjaš
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Design Procedure ◽  
Structure Design ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Synchronous Reluctance Motor ◽  
Parameters Selection ◽  
Reluctance Motor ◽  
The Stability

This paper discusses nonlinear controller structure design for a synchronous reluctance motor (SynRM). The SynRM is represented with a nonlinear dynamic model. All presented nonlinearities of the SynRM are respected in the controller design procedure. A nonlinear controller policy is used for a SynRM positing system. The nonlinear controller design is based on the chattering alleviation technique for the super-twisted algorithm (STA). The alleviation technique assumes the presence of a fast parasitic dynamic, or fast, actuator. Based on the motor structure, the STA controller is designed only for the mechanical subsystem, where the electrical part presents the parasitic dynamic, and is taken in to account in the chattering suppression procedure. Chattering rejection is based on the STA describing function and harmonic balance equation. The approach allows determination of fast oscillation parameters, such as amplitude and frequency of oscillation. The conditions for the controller parameters’ selection are derived with regard to the given oscillation parameters. The derived conditions cover the stability analysis for the STA controller, as well as the stability condition for current controllers and chattering amplitude minimization. The result is confirmed with an example.

Hydropower Plant Frequency Control Via Feedback Linearization and Sliding Mode Control

2016 ◽  
Vol 138 (7) ◽  
Author(s):  
Xibei Ding ◽  
Alok Sinha
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Frequency Control ◽  
Load Frequency Control ◽  
Hydropower Plant ◽  
Input State ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Nonlinear Controller Design

This paper presents a new nonlinear controller design approach for a hydraulic power plant focusing on load frequency control aspect. It is based on input state feedback linearization and sliding mode/H∞ control. Simulation results for a nonlinear dynamic model of entire hydropower plant are presented and compared to those from the classical linear proportional-integral (PI) controller. A novel two-stage scheme for the nonlinear controller design with integral feedback is presented for a fast transient response and zero steady-state error.

Hydropower Plant Frequency Control via Feedback Linearization and Sliding Mode Control

2011 ◽  
Author(s):  
Xibei Ding ◽  
Alok Sinha
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Frequency Control ◽  
Load Frequency Control ◽  
Hydropower Plant ◽  
Input State ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Nonlinear Controller Design

This paper presents a new nonlinear controller design approach for a hydraulic power plant focusing on Load Frequency Control aspect. It is based on input state feedback linearization and sliding mode/H∞ control. Simulation results for a nonlinear dynamic model of entire hydropower plant are presented and compared to those from the classical linear PI controller. A novel two-stage scheme for the nonlinear controller design with integral feedback is presented for a fast transient response and zero steady state error.

scholarly journals Controller Design for the Rotational Dynamics of a Quadcopter

2019 ◽  
Vol 38 (2) ◽  
pp. 269-274
Author(s):  
Rabia Rashdi ◽  
Zeeshan Ali ◽  
Javed Rahman Larik ◽  
Liaquat Ali Jamro ◽  
Urooj Baig
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Euler Method ◽  
State Variables ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Highly Nonlinear

Researchers have shown their interests in establishing miniature flying robots to be utilized for, both, commercial and research applications. This is due to that fact that there appears to be a huge advancement in miniature actuators and sensors which depend on the MEMS (Micro Electro-Mechanical Systems) NEMS (Nano-Electro Mechanical Systems). This research underlines a detailed mathematical model and controller design for a quadcopter. The nonlinear dynamic model of the quadcopter is derived from the Newton-Euler method and Euler Lagrange method. The motion of a quadcopter can be classified into two subsystems: a rotational subsystem (attitude and heading) and translational subsystem (altitude and x and y motion). The rotational system is fully actuated whereas translational subsystem is under actuated. However, a quadcopter is 6 DOF (Degrees of Freedom) under actuated system. The controller design of a quadcopter is difficult due to its complex and highly nonlinear mathematical model where the state variables are strongly coupled and contain under actuated property. Nonlinear controller such as SMC (Sliding Mode Controller) is used to control altitude, yaw, pitch, and roll angles.Simulation results show that the robustness of the SMC design gives a better way to design a controller with autonomous stability flight with good tracking performance and improved accuracy without any chattering effect. The system states are following the desired trajectory as expected.

Tracking Control of Robot Manipulator Using Sliding Mode Controller With Performance Robustness

1999 ◽  
Vol 121 (1) ◽  
pp. 64-70 ◽  
Author(s):  
Chieh-Li Chen ◽  
Rui-Lin Xu
Keyword(s):  
Tracking Control ◽  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Design Procedure ◽  
Sliding Mode Controller ◽  
Systematic Design ◽  
And Performance ◽  
The Stability

The tracking control problem of robot manipulator is considered in this paper. A sliding mode controller design with global invariance is proposed using the concept of extended system and feedback linearization. The sliding surface is assigned such that the sliding mode motion will occur while the proposed control law is applied. This results in a system with global invariance. The stability and performance of the resulting system can be guaranteed by the proposed systematic design procedure.

scholarly journals Robust RAM Control for WSR on the Water Surface

2018 ◽  
Vol 7 (3.7) ◽  
pp. 303
Author(s):  
K Chun ◽  
B Kim
Keyword(s):  
Lyapunov Function ◽  
Water Surface ◽  
Controller Design ◽  
Sliding Mode ◽  
Fast Response ◽  
Target Point ◽  
Nonlinear Controller ◽  
Sign Function ◽  
Simulation Results ◽  
The Stability

This paper discusses a robust rotate and move (RAM) controller by considering a water striding robot (WSR) with two wheels. The proposed controller commands the WSR to rotate and move straight toward the desired target by considering the two wheel WSR characteristics. Sliding mode control (SMC) is one of the solutions in nonlinear controller design and it has fast response and robustness. SMC is applied to the WSR RAM control. However, the sliding mode has a problem called chattering because of using sign function in controller design and this will cause the system unstable in WSR control because the chattering make the WSR sink into water easily. As a solution, sign function is replaced by saturation function. The proposed controller is noble and track the target point easily and also has robustness. The stability of the proposed controller is proved by Lyapunov function and the simulation results show the fast response and robustness.  

scholarly journals Design of External Rotor Ferrite-Assisted Synchronous Reluctance Motor for High Power Density

2021 ◽  
Vol 11 (7) ◽  
pp. 3102
Author(s):  
Md. Zakirul Islam ◽  
Seungdeog Choi ◽  
Malik E. Elbuluk ◽  
Sai Sudheer Reddy Bonthu ◽  
Akm Arafat ◽  
...  
Keyword(s):  
Rare Earth ◽  
Permanent Magnets ◽  
Design Procedure ◽  
Lumped Parameter Model ◽  
High Power Density ◽  
Analytical Design ◽  
Synchronous Reluctance Motor ◽  
Lumped Parameter ◽  
Reluctance Motor ◽  
External Rotor

The rare-earth (RE) permanent magnets (PM) have been increasingly adopted in traction motor application. However, the RE PM is expensive, less abundant, and has cost uncertainties due to limited market suppliers. This paper presents a new design of a RE-free five-phase ferrite permanent magnet-assisted synchronous reluctance motor (Fe-PMaSynRM) with the external rotor architecture with a high saliency ratio. In such architecture, the low magnetic coercivity and demagnetization risk of the ferrite PM is the challenge. This limits the number of flux barriers, saliency ratio, and reluctance torque. A precise analytical design procedure of rotor and stator configuration is presented with differential evolution numerical optimizations by utilizing a lumped parameter model. A 3.7 kW prototype is fabricated to validate the proposed idea.

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