In order to improve the performance of external disturbance rejection of permanent magnet synchronous motor pmsm in speed control, sliding mode control with extended state observer is adopted in this paper. Two different methods to address this issue can be found in the literature. Sliding mode control of electromechanical systems heide brandtst. Active suspension system, differential geometry, fuzzy control, sliding mode control, sliding mode observer. Finally, the simulation results show that the design of the controller and the. The reducedorder sliding mode surface function is proposed based on the lyapunovfunctional and the designed switching function.
Simulation realization of sliding mode control for. Several methods to suppress chattering can be used. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. Design is decoupled into two independent subproblems. Sliding mode control for state delayed systems subject to. The motivation of this controller is to introduce the lyapunov function vx. Index terms sliding mode control, interactive simulations, control education.
Simulation to implementation as good practices for teaching. Pdf slidingmode speed control of pmsm with fuzzylogic. In the reaching phase the trajectory reaches the sliding mode and in the sliding phase the trajectory stays on the sliding mode for all further time. Sliding modes based control smc is becoming a very. The research in this area were initiated in the former soviet union about 40 years ago, and then the sliding mode control methodology has been. I am master student in iran and i would like know any detail about sliding mode control for electrical motor specially induction motor. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule.
Simulation and implementation of a sliding mode control for a. Request pdf simulation and implementation of a sliding mode control for a brushless dc motor with rbfnn and disturbance observer in this paper, a sliding mode control smc was built to. Phase plane trajectory using csmc figure 2 convergences of state trajectories using csmc. Variable structure control systems vscs evolved from the pioneering work of emelyanov and barbashin in the early 1960s in russia. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Sliding mode control smc consists of an algorithm inherently robust to changes in the parameters, nonlinear models, external disturbances and uncertainty. Nov 09, 2015 sliding mode control and its application 1. Index termssliding mode control, finite time controller. Sliding mode controller design sliding mode control is a special version of an ono control. Advanced sliding mode control for mechanical systems.
Design and implementation of sliding mode controller for. Second, from the sliding surface we derive the equivalent control third, the control output is achieved by adding the switching control output. In the design of sliding mode controller the first stage is a design of sliding surface while the second is forces the state to approach the sliding surface from any other region of the state space, and remains on it 1 refer fig. Download the ebook advanced sliding mode control for mechanical systems. Pdf abstract this paper presents the robust of sliding mode controller according to parameters change and worst signal noise. It is used when the robustness requirement is of utmost importance in vehicle applications and in the presence of strong uncertainties 129. This book provides many sliding mode controller design examples, along with simulation examples and matlab programs. Hierarchical sliding mode control for underactuated. The proposed fuzzysmc performance is tested in simulation and experimental.
Figure 3 from slidingmode speed control of pmsm with fuzzy. Design, analysis and matlab simulation takes readers. Using conventional sliding mode control, the results of simulation are presented in figures using quasi sliding mode control, the results of simulation are presented in figures 46 figure 1. The esmrl can dynamically adapt to the variations of the controlled system, which decrease the. Using matlab tool, try to simulate as well as compare of all control algorithm in simulation and also implementation of sliding mode control in real time. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. The ideas did not appear outside of russia until the mid 1970s when a book by itkis and a survey paper by utkin 1 are published in english. A high order sliding mode control with pid sliding surface arxiv. Sliding mode existence and ideal sliding dynamics in order to analyze the closedloop behavior it is necessary to understand the dynamics in sliding modes. Teaching, analyzing, designing and interactively simulating sliding.
Design, analysis and matlab simulation in pdf or epub format and read it directly on your mobile phone, computer or any device. Vector control of permanent magnet synchronous motors. Covers both classic sliding mode control methods and novel hierarchical sliding mode control methods includes theoretical analyses, simulation results and matlab codes for each controller design demonstrates the compensator design of unmodeled dynamics based. The sliding mode control technique is characterized by the following features. Extended state observerbased sliding mode control with new. The book is written from the perspective of practical engineering and examines numerous classical. Modeling and sliding mode control of a micro helicopter.
Fuzzy sliding mode control for active suspension system with. Simulation results show that this control strategy can attain excellent control performance with no chattering problem. First, a sliding surface is devised for the switched system and sufficient conditions are proposed to ensure the globally uniformly asymptotical stability of the sliding motion equation by utilizing multiple lyapunov function technique. Simulation to implementation as good practices for teaching power electronics to undergraduate students. A sliding mode control scheme is proposed for the crane. Sliding mode observers historical background and basic. The mathematics derivation is straight forward, and will be explained in next page. Advanced sliding mode control for mechanical systems design. The performance of the designed controllers is then studied by means of simulation using matlab and.
Generally it is based on the switching control action and the performance of lyapunov stability theorem. Oct 12, 2016 the reducedorder sliding mode surface function is proposed based on the lyapunovfunctional and the designed switching function. Example on sliding mode control file exchange matlab. First, an exponential functionbased sliding mode reaching law esmrl is developed. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces.
Simulation to implementation as good practices for. Simulation and implementation of a sliding mode control. In this paper a sliding mode control scheme smc applied to the permanent magnet synchronous motor pmsm speed control is designed and improved. Keywords sliding mode control, actuator nonlinearity, quantized signal, multiple lyapunov function, persistent dwelltime switching introduction the past decades have witnessed a great advance in studies of switched systems. Introduction the control problem sliding mode techniques were perhaps originally best known for their potential as a robust control method, and evolved from pioneering work in the 1960s in the former soviet union. Results are demonstrated employing the method for several examples to show potential of the proposed technique. Edwards and spurgeon, 1998 is well known for its robustness to modeling errors, insensitivity to parameter variations and disturbances, which are expected in practice 4, 6. Using conventional sliding mode control, the results of simulation are presented in figures using quasisliding mode control, the results of simulation are presented in figures 46 figure 1. The sliding mode manifold and the corresponding lyapunov function are obtained if the iterative sos optimization program has a solution. Sliding mode control ppt final control theory servomechanism. Proportional sliding mode control with labview realtime. Design, analysis and matlab simulation liu, jinkun, wang, xinhua on.
An adaptive slidingmode control system is proposed to control the position of an induction servomotor drive. And the problem of using matlab software m language programming is studied. Finally, some conclusion remarks will be made according to the simulation results. Sliding mode control and observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of statespace methods and nonlinear systems, while being of interest to a wider audience of graduate students in electricalmechanicalaerospace engineering and applied mathematics, as well as researchers in. Tsinghua university press sliding mode control matlab 2nd edition from the perspective of matlab simulation systematic introduction to the basic theory of the sliding mode variable structure control. Sliding mode control is a special version of an ono control. To ensure that the trajectory reaches the sliding mode the reaching condition. Sliding mode control utilizes discontinuous control laws to drive the system state trajectory onto a specified surface in the state space, the so called sliding or switching surface, and to keep the system state on this manifold for all the subsequent times. On the negative side, the main problem is the chattering effect produced in the control responses. This paper presents the regulation and trajectory tracking for a micro coaxial rocket helicopter mcr uav, as well as the control of a mini aircraft. The former vehicle has the characteristic of performing hover and forward flight while the latter vehicle is considered as an external air transporter for the mcr uav. Sliding mode control thus can be broadly divided into two phases, the reaching phase and the sliding phase. It can be used only when the control signal ut can switch at high frequency. The statefeedback control law is not a continuous function of.
Sliding mode control smc discrete type of the sliding mode control elmali 1992 is derived analogically to the theory of stability in continuous domain. This scheme, which guarantees the asymptotic stability of the. Second, the sliding mode control laws, based on the parameters of quantizer, actuator. Designing robust control by sliding mode control technique. Sliding mode control of induction motor using simulation. Re sults of the simulation of control laws based on slidingmode control are performed. Figure 3 from slidingmode speed control of pmsm with. Sliding mode regelungen zeichnen sich durch hohe robustheit gegenuber parameterunsi. Finally, the simulation results demonstrate that the proposed control law can guarantee the stability of state delayed systems. The simulations are conducted to illustrate the effectiveness and advantages of this proposed observer and control strategy.
Sliding mode control an overview sciencedirect topics. It is the property of the smc that made it useful for many. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior. The key idea is to apply strong control action when the system deviates from the desired behavior. The esmrl can dynamically adapt to the variations of the controlled system. The paper deals with c code implementation of sliding mode control into simulink environment. Sep 27, 20 this paper presents the regulation and trajectory tracking for a micro coaxial rocket helicopter mcr uav, as well as the control of a mini aircraft. The system is a second order dynamic system, consisting of a mass and a damper.
Filippov approach 30, and the equivalent control method introduced by v. The overall adaptive sliding mode scheme guarantees the convergence to zero of tracking errors and the boundedness of all signals in the closedloop system. Sliding mode control of induction motor using simulation approach. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time. For control purposes, the helicopter stabilization is based on sliding mode. Notation within the scope of this thesis lowercase letters represent scalars, bold lowercase letters. The ideal sliding mode occurs if there exists a finite tim tes such that y cx 0, t t s 3 where the time ts is th time e when the sliding mode is reached. So sliding mode control is really helpful to achieve optimization technique in dual servo synchronization accuracy. Simulation and implementation of servo motor control with. Show full abstract closedloop system, has two objectives. Pdf sliding mode simulation and robustaness controller. Design, analysis and matlab simulation jinkun liu, xinhua wang advanced sliding mode control for mechanical systems. Sliding mode control of permanent magnet dc motorbest.
Pdf sliding mode control of induction motor using simulation. Sliding mode control is based on variable structure systems. For control purposes, the helicopter stabilization is. Sliding mode control and observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of statespace methods and nonlinear systems, while being of interest to a wider audience of graduate students in electricalmechanicalaerospace engineering and applied mathematics, as well as researchers. Pdf summary the main objectives of this paper is aimed to control the position of a field oriented induction servo motor drive for a given reference. Extended state observerbased sliding mode control with. The programming in langue c was appeared as necessity for future realtime control of the physical model of the robot by dsp.