Sliding mode input-output linearization and field orientation for real-time control of induction motors

Purpose The purpose of the study is to design a three-dimensional (3D) triglide parallel robot with a different approach and to control the manufactured robot via sliding mode control method that has not been applied to the robot before. Design/methodology/approach The x, y and z coordinates of the end effector of the robot have been given as a reference. The x, y and z reference values are transformed as new reference values of the vertical movement of the robot on the endless screw by using the inverse kinematic equations of the robot. The control of the robot over these reference values is provided by a sliding mode control. The MATLAB/real-time toolbox has been used for creating the interface. The real-time control of the triglide robot has been carried out with a sliding mode controller in the Simulink environment. Findings When the results of the sliding mode control are examined, it is seen that the desired reference values are provided in about 0.6 s. The velocity of the sliding limbs in each arm of the robot is approximately 50 mm/s. The reference values have been reached using the sliding mode control method, with an average error of 0.01 mm. In addition, the problem of chattering in the system caused by using the sign function has been relatively eliminated by using the saturation function instead of the sign function. Thus, the sliding mode control method with saturation function is more feasible. Originality/value In this study, the triglide parallel robot was manufactured using a 3D model after taking into consideration the dimensions of the 3D model. After production, the necessary hardware connections were provided, and a real-time sliding mode control method was implemented to the robot by using the interface program in MATLAB/Simulink environment. The literature contribution of the paper is the real-time control of the triglide robot with the sliding mode control method.

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Design of neuro-fuzzy controller on DSP for real-time control of induction motors

Proceedings Joint 9th IFSA World Congress and 20th NAFIPS International Conference (Cat. No. 01TH8569) ◽

10.1109/nafips.2001.943712 ◽

2002 ◽

Cited By ~ 3

Author(s):

Tae-Chon Ahn ◽

Yang-Won Kwon ◽

Hyung-Soo Hwang ◽

W. Pedrycz

Keyword(s):

Real Time ◽

Induction Motors ◽

Fuzzy Controller ◽

Real Time Control ◽

Time Control ◽

Neuro Fuzzy

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Design and real-time implementation of a decentralized sliding mode controller for twin rotor multi-input multi-output system

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651816680457 ◽

2017 ◽

Vol 231 (1) ◽

pp. 3-13 ◽

Cited By ~ 6

Author(s):

Farah Faris ◽

Abdelkrim Moussaoui ◽

Boukhetala Djamel ◽

Tadjine Mohammed

Keyword(s):

Real Time ◽

Degrees Of Freedom ◽

Sliding Mode ◽

System Control ◽

Sliding Mode Controller ◽

Real Time Control ◽

Strongly Coupled ◽

Time Control ◽

Output System ◽

Twin Rotor

The article deals with a real-time implementation of a decentralized sliding mode controller applied to a twin rotor multi-input multi-output system, a system with 2 degrees of freedom, strongly coupled and its dynamic resembles that of a helicopter. The work is motivated by the fact that in the literature several control techniques have been proposed for the twin rotor multi-input multi-output system control without being applied to the system, and the considered authors presented just the simulation results. To control the vertical and horizontal positions of the twin rotor multi-input multi-output system, the system is decoupled into two subsystems, vertical and horizontal, controlled by two independent sliding mode regulators calculated from the mathematical models of vertical and horizontal subsystems, respectively. From the results of real-time control of the twin rotor multi-input multi-output system in stabilization and tracking modes, and performing robustness and disturbance rejection tests, the effectiveness of the suggested control scheme was proven.

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