Field oriented induction servo motor, sliding mode control system, adaptive sliding mode control system. Sliding mode control design principles and applications to electric drives vadim i. Hirschorn abstractthe purpose of this paper is to present a framework for the design of slidingmode based controllers for multiinput af. In this, the sliding surfaces used to derive the different control schemes presented in this work are based on an integral. 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. A novel sliding mode control for a class of affine dynamic systems. Teaching, analyzing, designing and interactively simulating sliding. Abstract, theory and design of a conventional sliding mode controller. Sliding mode control of induction motor using simulation.
For example, sliding mode control drives a sliding surface, where. Utkin abstractthe paper deals with the basic concepts, mathemat ics, and design aspects of variable structure systems as well as sliding modes as a principle operation mode. Designing robust control by sliding mode control technique. Sliding mode controller design sliding mode control is a special version of an ono control. The control algorithms and data processing used in variable structure systems are analyzed. In the early sixties, discontinuous control at least in its simplest form of bangbang control was a subject of study for mechanics and control engineers. It can be used only when the control signal ut can switch at high frequency. New methodologies for adaptive sliding mode control.
Control of electromechanical systems using sliding mode. Discretetime sliding mode control tu delft repositories. To deal with both overshoot and steadystate error, a sliding mode controller with saturated integrator is studied. Sliding mode control is an area of increasing interest in control engineering. 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. Its strengths result from its simple, flexible, and highly costeffective approach to design and implementation. A mathematical description of motion in a sliding mode is considered for systems with. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Sliding mode control in electromechanical systems, second edition automation and control engineering vadim utkin, juergen guldner, jingxin shi on. Sliding mode control thus can be broadly divided into two phases, the reaching phase and the sliding phase. Summary this paper proposes a new approach of adaptive sliding mode controller designs for multiple.
The potential of sliding mode control methodology is demonstrated for versatility. Sliding mode control is fundamentally a consequence of discontinuous control. An adaptive sliding mode control asmc scheme is proposed for the synchronization of two chaotic nonlinear systems. The system is a second order dynamic system, consisting of a mass and a damper. Sliding mode control in electromechanical systems utkin pdf email. Sliding order and sliding accuracy in sliding mode control. Special issue on optimal sliding mode algorithms for dynamic. Shi proposed an improved sliding control method named integral sliding mode control ismc. The method is proposed to design a control that guarantees both asymptotic and finite time stability given helped by bilinear. The book is devoted to systems with discontinuous control. A modelfree control algorithm derived using the sliding. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage.
This chapter introduces two kinds of advanced sliding mode controllers design, including sliding mode control based on lmi technology and sliding mode control based on backstepping technology. The almost instantaneous convergence to the origin is achieved via impulsive control acting in a concert with second. Pdf speed control of dc motor using sliding mode control. The main argu ments in favor of sliding mode control are order reduction. Index terms sliding mode control, interactive simulations, control education. Sliding mode control in electromechanical systems utkin pdf. 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. Normally, sliding mode control design is split into two parts. Its application of a discontinuous control signal that forces the system to slide along a crosssection of the systems normal behaviour. This method is proved to be robust against disturbances and discrepancies between the physical plant and its. Explore prime new internship new upload login register. Due to sliding mode control methodology, a sliding surface is determined and.
The motivation of this controller is to introduce the lyapunov function vx. The sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant operating under uncertainty conditions. 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. Chattering is a harmful phenomenon because it leads to low control accuracy, high wear of moving mechanical parts, and high heat losses in power circuits. 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. For large servo signals the controller is switched.
In contrast to conventional cascade control structures not only the variables of. Neural network based sliding mode control 129 assumption 3. At the first stage of sliding mode control theory development the chattering was the main obstacle for its implementation. This variant of sliding mode possesses the main features of the sliding mode like robustness and the existence chattering across the switching manifold. Neural network based sliding mode control for uncertain. The paper deals with c code implementation of sliding mode control into simulink environment. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the socalled chattering, which strongly reduces the control performance. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of statespace methods. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some.
In ismc, the system trajectory always starts from the sliding surface. Example on sliding mode control file exchange matlab. Theory and applications series in systems and control pdf, epub, docx and torrent then this site is not for you. Optimal sliding mode algorithms for dynamic systems in journal of the franklin institute jfi since the sliding mode control was invented in the beginning of 1970s, the close relation between the solutions to optimal control problems and sliding mode controldriven trajectories was established. In the formation of any control problem there will be discrepancies between the actual plant and the mathematical model for controller design.
This paper proposes a novel sliding mode control smc method for a class of affine dynamic systems. The synthesis of a control algorithm that stirs a nonlinear system to a given manifold and keeps it within this constraint is considered. A modelfree control algorithm derived using the sliding mode control method agamemnon crassidis, arielle mizov rochester institute of technology 76 lomb memorial drive, rochester, new york 14623, u. Optimal terminal slidingmode control for secondorder motion systems. In contrast with conventional sliding mode control, the system motion under integral sliding mode has a dimension equal to that of the state space. The slidingmode control of dcdc switching converters is presented in contrast to the. Isbn 9789533071626, pdf isbn 9789535160021, published 20110411.
For example, slidingmode control drives a sliding surface, where. The sliding mode control methodology has proven effective in dealing with. Free body diagram of abs the car velocity is equal to the angular velocity of the lower wheel multiplied by the radius of this wheel, while the angular velocity of the wheel is equal to the upper wheel angular velocity. Just recall, as an example, hamels work 15 in france, or cyp. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. If youre looking for a free download links of sliding mode control. Conventional sliding mode control utkin et al, 1999 can not be formulated. Numerical validation of sliding mode approaches with uncertainty. There are two reasons which can lead to chattering. Sliding mode control provides insensitivity to parameter variations and disturbances. In that time, sliding mode control smc has continued to gain increasing importance as a universal design tool for the robust control of linear and nonlinear electromechanical systems.
The statefeedback control law is not a continuous function of time. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of. These robustness properties make this discontinuous control strategy very attractive. 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. Sliding mode control and observation yuri shtessel springer. Sliding mode control smc, process control, variable structure control. Selftuning in sliding mode control of highprecision motion systems. Abstract sliding mode control provides insensitivity to parameter variations and disturbances. Dynamic sliding mode control based on fractional calculus. Sliding modes based control smc is becoming a very. Sliding mode control design sliding mode equation is of reduced order does not depend on control depends on the equation of switching surfaces. Conventional slidingmode control utkin et al, 1999 can not be formulated. In nominal system the pair a,b is controllable and rankb m as per this assumption 15, there exist a nonsingular matrix m. The objective is also accomplished to enlarge the inner bound of region of attraction for closedloop dynamics.
The method of the equivalent control is illustrated in the design of a cascade control for the voltage regulation of a nonminimum phase converter. Sliding mode control encyclopedia of life support systems. 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. To ensure that the trajectory reaches the sliding mode the reaching condition. Moreover, some important control problems involving uncertain mechanical. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Extended state observerbased sliding mode control with. The approach presented extracts the error at the output of the controller. In general, the integral sliding mode control law appears as follows. A modelfree control algorithm derived using the sliding mode. Sliding mode control of induction motor using simulation approach.
The esmrl can dynamically adapt to the variations of the controlled system, which decrease the. Smc is considered to be an extension of variable structure control vsc. The programming in langue c was appeared as necessity for future realtime control of the physical model of the robot by dsp. Decentralized sliding mode control for a class of nonlinear. This paper proposes a method for tuning the parameters of a variable structure controller. Special issue on optimal sliding mode algorithms for. Extended state observerbased sliding mode control with new. In the subsequent subsections, the authors aim to present the design procedure. First, an exponential functionbased sliding mode reaching law esmrl is developed. Sliding mode regelungen zeichnen sich durch hohe robustheit gegenuber parameterunsi.
The major advantage of sliding mode controllers is inherent insensitivity to parameter variations and disturbances once in the sliding mode, thereby eliminating the necessity of exact modeling. A robust decentralized sliding mode control based on static state feedback is developed. Sliding mode control design principles and applications to. Optimal sliding mode algorithms for dynamic systems in journal of the franklin institute jfi since the sliding mode control was invented in the beginning of 1970s, the close relation between the solutions to optimal control problems and sliding mode control driven trajectories was established. The key idea is to apply strong control action when the system deviates from the desired behavior. Sliding mode control theory seeks to produce controllers to over some such mismatches. Robust control strategy considering noise processes.
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. The smc is equipped with chattering reduction mechanism by implementing boundary around the sliding surface. This paper presents the sliding mode controller design to regulate the speed control of the directcurrentdc motor. The sliding mode control technique is characterized by the following features. First, two control systems operating in parallel are examined, each of which generates a desired longitudinal and lateral vehicle acceleration. Design is decoupled into two independent subproblems. Pdf sliding mode control of a class of uncertain systems.
288 1409 1302 1079 176 1518 586 795 226 166 1557 665 411 956 267 153 901 444 812 502 1516 403 978 944 523 815 1171 842 379 1409 1132