A Simulation of an Electrical Servo Drive Based on Optimal Control

2013 ◽  
Vol 380-384 ◽  
pp. 476-479 ◽  
Author(s):  
Xiu Qin Yang ◽  
Kai Feng Zou
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Servo Drive ◽  
Mode Control ◽  
Sliding Motion ◽  
Quadratic Performance Index ◽  
Quadratic Performance ◽  
Integral Sliding Surface

In paper, the problem of robustify LQR for a class of uncertain linear systems is considered. An optimal controller is designed for the nominal system and an integral sliding surface is constructed. The ideal sliding motion can minimize a given quadratic performance index, and the reaching phase, which is inherent in conventional sliding mode control, is completely eliminated. Then the sliding mode control law is synthesized to guarantee the reachability of the specified sliding surface. The system dynamics is global robust to uncertainties which satisfy matching conditions. A GROSMC is realized. To verify the effectiveness of the proposed scheme, a robust optimal sliding mode controller is developed for rotor position control of an electrical servo drive system.

Dynamic modelling and linear quadratic sliding mode control of a multivariable looper system in hot strip mills

2021 ◽  
Vol 118 (2) ◽  
pp. 215
Author(s):  
Yin Fang-Chen ◽  
Wu Xiang-Cheng
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Modelling ◽  
Control Law ◽  
Linear Quadratic ◽  
Mode Control ◽  
Sliding Motion ◽  
Quadratic Performance ◽  
Hot Strip Mills ◽  
Looper System

This paper introduces a linear quadratic sliding mode control (LQ-SMC) scheme into a looper control system. First, according to a 1700 mm tandem hot mill, the state-space dynamic model of the looper system was established, and then, the optimal control law of the looper system was obtained based on the established model. Finally, the optimal sliding mode and optimal sliding mode control law of the LQ-SMC scheme were designed such that the sliding motion could satisfy the optimal value of the quadratic performance index. Simulation results show that the proposed control scheme has complete robustness to external disturbances that satisfies certain conditions, and the coupling between the looper angle dynamic and strip tension dynamic is also minimized.

Integral Sliding Mode Control Approach for 3-Pole Active Magnetic Bearing System

2016 ◽  
Vol 829 ◽  
pp. 128-132 ◽  
Author(s):  
Van Van Huynh ◽  
Minh Hoang Quang Tran
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Magnetic Bearing ◽  
Active Magnetic Bearing ◽  
Sliding Surface ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Integral Sliding Surface ◽  
Bearing System

In this paper, a new integral sliding mode control scheme is designed for the 3-pole active magnetic bearing system. First, a new integral sliding surface is designed such that the 3-pole active magnetic bearing system in the sliding mode is asymptotically stable under certain conditions. Then, an adaptive controller is designed to solve the unknown upper bound of matched uncertainty and guarantee the reachability of the integral sliding surface. Finally, the performance of the proposed integral sliding mode controller is applied to 3-pole active magnetic bearing system to demonstrate the efficacy of the proposed method.

Fractional-order sliding mode control for deployment of tethered spacecraft system

2019 ◽  
Vol 233 (13) ◽  
pp. 4721-4734 ◽  
Author(s):  
Zhiqiang Ma ◽  
Zheng H Zhu ◽  
Guanghui Sun
Keyword(s):  
Steady State ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Mode Control ◽  
Tethered Spacecraft ◽  
Integral Sliding Surface ◽  
Steady State Performance

This paper proposes a fractional-order integral sliding mode control with the order 0 <  ν < 1 to stabilize the deployment of tethered spacecraft system with only tension regulation. The work in this paper is partially based on integer-order nonlinear sliding mode controller and improves its performance with fractional-order calculus. The proposed scheme makes use of integral sliding surface to obtain smaller convergence regions of state errors, and the fractional derivative is synthesized to enhance the flexibility of controller design by fining parameters for better dynamic and steady-state performance. Fractional-order observers help to eliminate external disturbances while the adaptive law is presented to remove the adverse effect in stability analyses, and fractional-order uniform ultimate boundedness is proved to guarantee the existence of the proposed sliding surface. According to theoretical analyses, the fractional order will indeed affect the dynamic and steady-state performance of control system, and the proposed method will be verified in numerical simulations compared with the nonlinear sliding mode counterpart.

Robust position control of a perturbed electrical servo drive system via the adaptive fuzzy sliding-mode technique

2005 ◽  
Vol 219 (2) ◽  
pp. 145-160 ◽  
Author(s):  
Chung-Chun Kung ◽  
Kuo-Ho Su
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
A Priori ◽  
Servo Drive ◽  
Control Effort ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

A novel adaptive fuzzy sliding-mode control (AFSMC) system for high-precision position control of a perturbed electrical servo drive is developed in this paper. The proposed AFSMC system is designed via the approximation ability of a fuzzy system to mimic the good behaviour of a total sliding-mode control (TSMC) system, which is designed without the reaching phase of a conventional sliding-mode control (SMC). In the developed system, a priori knowledge of the system information is not required. Moreover, the gradually increasing estimate upper bound, which may induce the control effort into saturation and excite unstable system dynamics in some conditions, would not exist. In the proposed controller, the adaptive tuning algorithms are developed in the sense of the Lyapunov stability theorem, so that system-tracking stability can be guaranteed. Finally, the effectiveness of the proposed control scheme is verified via the experimental results of a field-oriented control permanent magnet (PM) synchronous motor.

Chattering of proxy-based sliding mode control in the presence of parasitic dynamics

2020 ◽  
Author(s):  
Ryo Kikuuwe ◽  
Pablo J Prieto ◽  
J A López-Rentería
Keyword(s):  
Boundary Layer ◽  
Sliding Mode Control ◽  
Function Method ◽  
Position Control ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Describing Function ◽  
Mode Control ◽  
Describing Function Method ◽  
Ieee International Conference

Abstract This paper reports an analysis on proxy-based sliding mode control (PSMC), which is a controller proposed by Kikuuwe & Fujimoto (2006, Proceedings of the 2006 IEEE International Conference on Robotics and Automation, pp. 25–30) originally for position control of robot manipulators. The describing function method is employed to investigate the chattering behavior of PSMC combined with a simple second-order plant with parasitic dynamics. The results show that PSMC is capable of achieving a lower tendency to chattering than the boundary-layer implementation of sliding mode control with the same sliding surface, without affecting the insensitivity to disturbance.

Adaptive Sliding Mode Controller With Proportional Plus Integral Sliding Surface

2006 ◽  
Author(s):  
J. Fei ◽  
Celel Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller ◽  
Integral Sliding Surface

This paper presents an adaptive tracking controller with a proportional and integral switching surface. A new adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of linear dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then an adaptive sliding mode controller is derived and its stability is proved. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The adaptive design is extended to the multiple inputs system. The numerical simulation is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.

A class of adaptive sliding mode controller with proportional-integral sliding surface

2009 ◽  
Vol 223 (7) ◽  
pp. 989-999 ◽  
Author(s):  
J Fei ◽  
C Batur
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
State Feedback Control ◽  
Adaptive Sliding Mode Control ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Adaptive Sliding Mode Controller ◽  
Integral Sliding Surface

This paper presents an adaptive sliding mode tracking controller with a proportional and integral switching surface. A novel adaptive sliding mode controller based on model reference adaptive state feedback control is proposed to deal with the tracking problem for a class of dynamic systems. First, a proportional and integral sliding surface instead of a conventional sliding surface is chosen and then a class of adaptive sliding mode controller with integral sliding term is developed. It is shown that the stability of the closed-loop system can be guaranteed with the proposed adaptive sliding mode control strategy. The numerical simulation of a triaxial gyroscope is investigated to show the effectiveness of the proposed adaptive sliding mode control scheme with proportional plus integral sliding mode action.

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