Sliding-Mode Control of a Permanent-Magnet Synchronous Motor with Uncertainty Estimation
In this paper, the application of sliding-mode control to a permanent-magnet synchronous motor (PMSM) is presented. The control design is based on a generic mathematical model of the motor. Some dynamics of the motor and of the power amplification stage remain unmodelled. This model uncertainty is estimated in realtime. The estimation is based on the differentiation of measured signals using the ideas of robust exact differentiator (RED). The control law is implemented on an industrial servo drive. Simulations and experimental results are presented and compared to the same control strategy without uncertainty estimation. It turns out that the proposed concept is superior to the same control strategy without uncertainty estimation especially in the case of non-smooth reference signals.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1078557Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2187
 J. A. Santisteban and R. M. Stephan, "Vector control methods for induction machines: an overview," IEEE Transactions on Education, vol. 44, no. 2, pp. 170-175, May 2001.
 R. Krishnan, Electric Motor Drives, Modeling, Analysis, and Control. Prentice Hall, Inc., 2001.
 R.-M. Jan, C.-S. Tseng, and R.-J. Liu, "Robust pid control design for permanent magnet synchronous motor: A genetic approach," Electric Power Systems Research, vol. 78, no. 7, pp. 1161 - 1168, 2008.
 Z. Song, Z. Hou, C. Jiang, and X. Wei, "Sensorless control of surface permanent magnet synchronous motor using a new method," Energy Conversion and Management, vol. 47, no. 15-16, pp. 2451 - 2460, 2006.
 Q. Jilong, T. Yantao, G. Yimin, and Zhucheng, "A sensorless initial rotor position estimation scheme and an extended kalman filter observer for the direct torque controlled permanent magnet synchronous motor drive," in Proc. International Conference on Electrical Machines and Systems ICEMS 2008, 17-20 Oct. 2008, pp. 3945-3950.
 F. Blaschke, "The principles of field orientation as applied to the new transvektor closed-loop control system for rotating field machines," Siemens Review, pp. pp. 217-220, 1972.
 K. Song, W. Liu, and G. Luo, "Permanent magnet synchronous motor field oriented control and hil simulation," in Proc. IEEE Vehicle Power and Propulsion Conference VPPC -08, 3-5 Sept. 2008, pp. 1-6.
 A. Cavallo and C. Natale, "Second order sliding output control of permanent magnet synchronous machines," IEEE Conference on Decision and Control, vol. 48, 2009.
 V. Utkin, J. Guldner, and J. Shi, Sliding Mode Control in Electromechanical Systems. Taylor and Francis Ltd, 1999.
 J. Simanek, J. Novak, O. Cerny, and R. Dolecek, "Foc and flux weakening for traction drive with permanent magnet synchronous motor," in Proc. IEEE International Symposium on Industrial Electronics ISIE 2008, June 30 2008-July 2 2008, pp. 753-758.
 C. Edwards and S. K. Spurgeon, Sliding Mode Control, Theory and Applications. Taylor and Francis Ltd, 1998.
 V. I. Utkin, Sliding Modes in Control and Optimization. Springer, 1992.
 J. Slotine and W. Li, Applied Nonlinear Control. Prentice Hall, 1991.
 A. Levant, "Higher-order sliding modes, differentiation and outputfeedback control," International Journal of Control, vol. 76, pp. 924- 941, 2003.
 M. Reichhartinger and M. Horn, "Application of higher order slidingmode concepts to a throttle actuator for gasoline engines," IEEE Transactions on Industrial Electronics, vol. 56, no. 9, pp. 3322-3329, Sept. 2009.
 F. Robles-Aguirre, J. Canedo, L. Fridman, and A. Loukianov, "Second order sm unified power flow controller for power systems," in Proc. International Workshop on Variable Structure Systems VSS -08, 2008, pp. 349-354.
 A. Colbia-Vega, J. de Leon-Morales, L. Fridman, O. Salas-Pena, and M. Mata-Jimenez, "Robust excitation control design using sliding-mode technique for multimachine power systems," Electric Power Systems Research, vol. 78, pp. 1627-1634, September 2008.
 M. Fliess, C. Join, and H. Sira Ramirez, "Non-linear estimation is easy," Int. J. Modelling, Identification and Control, vol. 4, no. 1, pp. 12-27, 2008.
 J. Zehetner, J. Reger, and M. Horn, "A derivative estimation toolbox based on algebraic methods - theory and practice," in Proceedings of the IEEE Conference on Control Applications, 2007, pp. pp. 331-336.
 A. Levant, "Robust exact differentiation via sliding mode technique," automatica, vol. 34, no. 3, pp. 379-384, 1998.
 ÔÇöÔÇö, "Principles of 2-sliding mode design," automatica, vol. 43, pp. 576-586, April 2007.
 Bernecker + Rainer Industrie-Elektronik Ges.m.b.H. (Online). Available: http://www.br-automation.com/