Adaptive Robust Control of Speed Sensorless Permanent Magnet Linear Synchronous Motor

2013 ◽  
Vol 385-386 ◽  
pp. 862-866
Author(s):  
Ren Jie Yang ◽  
Si Jia Yu ◽  
Hong Bing Yang ◽  
Chuan Sheng Tang ◽  
Yue Hong Dai
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Phase Error ◽  
Adaptive Robust Control ◽  
Sliding Mode Observer ◽  
Stable Theory ◽  
State Variables ◽  
Motor Speed ◽  
Pass Filter ◽  
Low Pass Filter

In order to improve the dynamic performance of PMLSM, an adaptive robust controller is presented. Meanwhile, the stability of the system is proved by Lyapunov stable theory. The presented controller contains no other motor parameters except state variables. S-function based sliding mode observer is proposed to achieve the estimation of motor speed. The introduction of S-function in the observer can solve the chattering phenomenon caused by traditional sliding mode observer, and solve the amplitude and phase error caused by low-pass filter. Finally, simulation results verify the effectiveness of the proposed control scheme.

A New Sliding-Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motor

2015 ◽  
Vol 740 ◽  
pp. 317-320
Author(s):  
Tong Yi Han ◽  
Zhong Hua Wang ◽  
Fei Fei Han
Keyword(s):  
Permanent Magnet ◽  
Sliding Mode ◽  
Sensorless Control ◽  
Dynamic Performance ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Sliding Mode Observer ◽  
Pass Filter ◽  
Variable Boundary ◽  
Low Pass Filter

In this paper, a new sliding-mode observer (SMO) for sensorless control of permanent magnet synchronous motor (PMSM) is proposed. The observer is built based on the study of the back electromotive force (EMF) equivalent control. The new SMO, which substitues a hyperbolic tangent function for the signum function with a variable boundary layer, can reduce the chattering phenomenon. In order to overcome the time delay, we cancelled the low-pass filter and phase compensation module. In this way, not only the structure of the observer is simplified, but also the estimation precision is improved. The simulation results prove that the new SMO has a good dynamic performance and static quality.

Robust active disturbance attenuation control of an uncertain quadrotor

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Nigar Ahmed ◽  
Ajeet kumar Bhatia ◽  
Syed Awais Ali Shah
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
The State ◽  
Disturbance Attenuation ◽  
State Variables ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Content Type ◽  
Highly Nonlinear ◽  
The Stability

PurposeThe aim of this research is to design a robust active disturbance attenuation control (RADAC) technique combined with an extended high gain observer (EHGO) and low pass filter (LPF).Design/methodology/approachFor designing a RADAC technique, the sliding mode control (SMC) method is used. Since the standard method of SMC exhibits a chattering phenomenon in the controller, a multilayer sliding mode surface is designed for avoiding the chattering. In addition, to attenuate the unwanted uncertainties and disturbances (UUDs), the techniques of EHGO and LPF are deployed. Besides acting as a patch for disturbance attenuation, the EHGO design estimates the state variables. To investigate the stability and effectiveness of the designed control algorithm, the stability analysis followed by the simulation study is presented.FindingsThe major findings include the design of a chattering-free RADAC controller based on the multilayer sliding mode surface. Furthermore, a criterion of integrating the LPF scheme within the EHGO scheme is also developed to attenuate matched and mismatched UUDs.Practical implicationsIn practice, the quadrotor flight is opposed by different kinds of the UUDs. And, the model of the quadrotor is a highly nonlinear underactuated model. Thus, the dynamics of the quadrotor model become more complex and uncertain due to the additional UUDs. Hence, it is necessary to design a robust disturbance attenuation technique with the ability to estimate the state variables and attenuate the UUDs and also achieve the desired control objectives.Originality/valueDesigning control methods to attenuate the disturbances while assuming that the state variables are known is a common practice. However, investigating the uncertain plants with unknown states along with the disturbances is rarely taken in consideration for the control design. Hence, this paper presents a control algorithm to address the issues of the UUDs as well as investigate a criterion to reduce the chattering incurred in the controller due to the standard SMC algorithm.

PMSM Control System Based on a Improved Sliding Mode Observer

2013 ◽  
Vol 307 ◽  
pp. 27-30 ◽  
Author(s):  
Yu Feng Zhang ◽  
Sheng Jin Li ◽  
Yong Zhou ◽  
Qi Xun Zhou
Keyword(s):  
Control System ◽  
Vector Control ◽  
Sliding Mode ◽  
Interpolation Method ◽  
Linear Interpolation ◽  
Sliding Mode Observer ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Field Oriented Vector Control ◽  
Vector Control System

In order to improve the performance of sensorless PMSM control system, an improved sliding mode observer (SMO) is proposed in this paper. To decrease the vibration of SMO, a variable switching gain which changes according to the winding currentn is adopted. To improve the estimated value of rotor position, a extra low pass filter (LPF) is employed and the linear interpolation method is used to calculate compensation value of the phase delay caused by LPF. To verify the performance of proposed SMO, a sensorless field oriented vector control system of PMSM is designed. At last, the performance of the improved SMO and the sensorless PMSM vector control system are verified by experimental results.

Two time-scale observer-based robust motion controller design and realization of a linear actuator

2016 ◽  
Vol 40 (11) ◽  
pp. 3241-3251 ◽  
Author(s):  
Nan Wang ◽  
Weiyang Lin ◽  
Jinyong Yu ◽  
An Zhang ◽  
Chao Ye
Keyword(s):  
Time Scale ◽  
Controller Design ◽  
Sliding Mode ◽  
Adaptive Robust Control ◽  
Velocity Signal ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Signal Tracking ◽  
Time Scale Separation ◽  
Low Pass

In this paper, an observer-based sliding mode controller is proposed for a high-accuracy motion plant to suppress the disturbances and improve the tracking performance. In particular, a two time-scale separation technology, which can recover the disturbance state in a faster time scale, is utilized to compensate the disturbances and improve the system robustness. The parameter identification is carried out to obtain the model coefficients with a high fitting rate. Such an identified model can allow the engineers to tune the controller’s gains highly enough when the system suffers from the measurement noises. Instead of the traditional low-pass filter, a differentiator is introduced for the velocity signal prediction and its discrete-time version is provided to attenuate the noises effect. To verify the effectiveness of the proposed approach, an adaptive robust control law is compared with the proposed one in terms of dynamic positioning error, robustness and rapid signal tracking, and the superiority and advantages can be illustrated by the experimental results.

Attitude Control for Ducted Fan UAV Based on Sliding Mode Adaptive Algorithm

2014 ◽  
Vol 513-517 ◽  
pp. 3915-3918
Author(s):  
Xiao Lu Ren ◽  
Chang Hong Wang ◽  
Guo Xing Yi
Keyword(s):  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
External Disturbance ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Ducted Fan ◽  
Multiple Input ◽  
Low Pass

According to the complicated condition and special dynamic performance of the Ducted Fan UAV, a nonlinear multiple input and multiple output control method is designed. This method is based on the sliding mode adaptive theory. Introducing the integral term, this method can work without the derivative value of the tracked signal; even the derivative doesnt exist or cannot be got. The adaptive control can identify the uncertain parameters and external disturbance, and adjust the controllers parameters real-time. Using a low-pass filter can effectively inhibit the chattering phenomenon in sliding mode control system. The Ducted Fan UAV attitude is controlled by this method. The simulation results show that this method has strong robustness and good tracking performance.

scholarly journals Sliding Mode Observer with Adaptive Parameter Estimation for Sensorless Control of IPMSM

Energies ◽  
2020 ◽  
Vol 13 (22) ◽  
pp. 5991
Author(s):  
Yubo Liu ◽  
Junlong Fang ◽  
Kezhu Tan ◽  
Boyan Huang ◽  
Wenshuai He
Keyword(s):  
Parameter Estimation ◽  
Sliding Mode ◽  
Sensorless Control ◽  
Parameters Estimation ◽  
Sliding Mode Observer ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Adaptive Parameter ◽  
Low Pass ◽  
Twisting Algorithm

To improve the observation accuracy and robustness of the sensorless control of an interior permanent magnet synchronous motor (IPMSM), a sliding mode observer based on the super twisting algorithm (STA-SMO) with adaptive parameters estimation control is proposed, as parameter mismatches are considered. First, the conventional sliding mode observer (CSMO) is analyzed. The conventional exponential approach law produces a large chattering phenomenon in the back EMF estimation, which causes a large observation error when filtering the chattering through the low-pass filter. Second, a high-order approach law of the super twisting algorithm is introduced to observe the rotor position and speed estimation, which uses the integral function to eliminate the chattering of the sliding mode. Third, an adaptive parameter estimation control (APEC) is presented to enhance the observation accuracy caused by parameter mismatches; the motor parameter adaptive law of the APEC is designed by Lyapunov’s stability law. Finally, the proposed method not only reduces both the chattering and the low-pass filter, but it also enhances accuracy and robustness against parameter mismatches, as discussed through simulations and experiments.

scholarly journals Comparative Study of a Super-Twisting Sliding Mode Observer and an Extended Kalman Filter for a Freeway Traffic System

2015 ◽  
Vol 15 (2) ◽  
pp. 141-158 ◽  
Author(s):  
H. Majid ◽  
H. Abouaïssa
Keyword(s):  
Kalman Filter ◽  
Comparative Study ◽  
Extended Kalman Filter ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Sliding Mode Observer ◽  
State Variables ◽  
Highway Traffic ◽  
Traffic State ◽  
Geometric Conditions

Abstract Traffic state estimation represents one of the important ingredients for traffic prediction and forecasting. The work presented in this paper deals with the estimation of traffic state variables (density and speed), using the so called Super- Twisting Sliding Mode Observer (STSM). Several numerical simulations, using simulated and real data, show the relevance of the proposed approach. In addition, a comparative study with the Extended Kalman Filter (EKF) is carried-out. The comparison indices concern convergence and stability, dynamic performance and robustness. The design of the two observers is achieved using a nonlinear second order traffic flow model in the same highway traffic and geometric conditions.

Sensorless Control of PMSM with Compensated Sliding Mode Observer

2012 ◽  
Vol 241-244 ◽  
pp. 1226-1233
Author(s):  
Zi You Song ◽  
Jian Qiu Li ◽  
Ming Gao Ouyang ◽  
Liang Fei Xu ◽  
Jun Ming Hu
Keyword(s):  
Closed Loop ◽  
Sliding Mode ◽  
Sensorless Control ◽  
Hall Sensor ◽  
Sliding Mode Observer ◽  
Closed Loop Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Loop Control ◽  
Rotary Speed

This paper presents a research on sensorless control of Permanent-magnet Synchronous Motor (PMSM) based on a compensated sliding mode observer (C-SMO) using one Hall sensor. Generally the sliding mode observer (SMO) has an attractive robustness to disturbances, and parameter variations in relatively high speed region. But the SMO cannot help reducing the ripple or chattering components of the estimated currents and the estimated phase especially in the low speed region. The estimated rotary speed is the differential result of the estimated phase. So the noise of the estimated phase is amplified in the estimated rotary speed which is used in speed closed-loop control and the low pass filter. The PMSM cannot be started with traditional SMO under closed-loop control condition. A more accurate estimated speed and a phase reference may solve this problem and they can be estimated by the Hall sensor. This more accurate estimated speed can also help the PMSM achieve a better performance on rotor phase estimation. The C-SMO which combines the advantages of Hall sensor and SMO achieves a less noise, less vibration effect. And the PMSM can be started with C-SMO under closed-loop control condition. The comparison between the SMO and C-SMO is realized by Matlab/Simulink and the simulation results show the effectiveness of the proposed algorithm for the sensorless drive system of a PMSM.

scholarly journals Sliding-Mode Observer for Speed and Position Sensorless Control of Linear-PMSM

2014 ◽  
Vol 5 (1) ◽  
pp. 20-26 ◽  
Author(s):  
Saeed Masoumi Kazraji ◽  
Ramin Bavili Soflayi ◽  
Mohammad Bagher Bannae Sharifian
Keyword(s):  
Sliding Mode ◽  
Sensorless Control ◽  
Sliding Mode Observer ◽  
Phase Lag ◽  
Sigmoid Function ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Chattering Phenomenon ◽  
Low Pass ◽  
Position Sensorless

Abstract The paper presents a sliding-mode observer that utilizes sigmoid function for speed and position sensorless control of permanent-magnet linear synchronous motor (PMLSM). In conventional sliding mode observer method there are the chattering phenomenon and the phase lag. Thus, in order to avoid the usage of the low pass filter and the phase compensator based on back EMF, in this paper a sliding mode observer with sigmoid function for detecting the back EMF in a PMLSM is designed to estimate the speed and the position of the rotor. Most of conventional sliding mode observers use sign or saturation functions which need low pass filter in order to detect back electromotive force (back EMF). In this paper a sigmoid function is used instead of discontinuous sign function to decrease undesirable chattering phenomenon. By reducing the chattering, detecting of the back EMF can be made directly from switching signal without any low pass filter. Thus the delay time in the proposed observer is eliminated because of the low pass filter. Furthermore, there is no need to compensate phase fault in position and speed estimating of linear-PMSM. Advantages of the proposed observer have been shown by simulation with MATLAB software.

A new reaching law for sliding mode observer of controllable excitation linear synchronous motor

2021 ◽  
pp. 014233122110320
Author(s):  
Xiaolei Shi ◽  
Yipeng Lan ◽  
Yunpeng Sun ◽  
Cheng Lei
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Angular Position ◽  
Lyapunov Stability Theory ◽  
Synchronous Motor ◽  
Position Estimation ◽  
Sliding Mode Observer ◽  
Sigmoid Function ◽  
Reaching Law ◽  
Linear Synchronous Motor

This paper presents a sliding mode observer (SMO) with new reaching law (NRL) for observing the real-time linear speed of a controllable excitation linear synchronous motor (CELSM). For the purpose of balancing the dilemma between the rapidity requirement of dynamic performance and the chattering reduction on sliding mode surface, the proposed SMO with NRL optimizes the reaching way of the conventional constant rate reaching law (CRRL) to the sliding mode surface by connecting the reaching process with system states and the sliding mode surface. The NRL is based on sigmoid function and power function, with proper options of exponential term and power term, the NRL is capable of eliminating the effect of chattering on accuracy of the angular position estimation and speed estimation. Compared with conventional CRRL, the SMO with NRL achieves suppressing the chattering phenomenon and tracking the transient process rapidly and accurately. The stability analysis is given to prove the convergence of the SMO through the Lyapunov stability theory. Simulation and experimental results show the effectiveness of the proposed NRL method.

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