scholarly journals Discrete Second-Order Sliding Mode Adaptive Controller Based on Characteristic Model for Servo Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Zhihong Wang ◽  
Yifei Wu ◽  
Wei Chen ◽  
Xiang Wang ◽  
Jian Guo ◽  
...  
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Adaptive Controller ◽  
Second Order ◽  
Least Square ◽  
Recursive Least Square ◽  
Load Torque ◽  
Servo Systems ◽  
Characteristic Model ◽  
Second Order Sliding Mode

Considering the varying inertia and load torque in high speed and high accuracy servo systems, a novel discrete second-order sliding mode adaptive controller (DSSMAC) based on characteristic model is proposed, and a command observer is also designed. Firstly, the discrete characteristic model of servo systems is established. Secondly, the recursive least square algorithm is adopted to identify time-varying parameters in characteristic model, and the observer is applied to predict the command value of next sample time. Furthermore, the stability of the closed-loop system and the convergence of the observer are analyzed. The experimental results show that the proposed method not only can adapt to varying inertia and load torque, but also has good disturbance rejection ability and robustness to uncertainties.

Second-order sliding mode-direct torque control and load torque estimation for sensorless model reference adaptive system–based induction machine

2020 ◽  
Vol 235 (1) ◽  
pp. 15-29 ◽  
Author(s):  
Abdelkarim Ammar
Keyword(s):  
Adaptive System ◽  
Sliding Mode ◽  
Direct Torque Control ◽  
Second Order ◽  
Torque Control ◽  
Load Torque ◽  
Model Reference ◽  
Model Reference Adaptive System ◽  
Model Reference Adaptive ◽  
Second Order Sliding Mode

In this article, an improved sensorless direct flux and torque control is presented for high-performance induction motor drive. This algorithm integrates the super twisting control approach with direct torque control and model reference adaptive system. The super twisting algorithm is a second-order sliding mode approach that uses a continuous control law in order solves the problems of chattering and enhances control robustness against various uncertainties. Besides, a load torque observer design bed on super twisting–based design is presented to improve the speed regulation loop and to increase its rejection ability of load disturbances. Furthermore, the stator flux model reference adaptive system is used as a sensorless algorithm for rotor speed reconstruction. The association of dual estimators can increase the control system’s reliability and reduce its cost. The effectiveness of the proposed control algorithm has been verified through simulation and experimental work using MATLAB/Simulink software and dSpace 1104 implementation board, respectively.

Adaptive terminal sliding-mode controller based on characteristic model for gear transmission servo systems

2018 ◽  
Vol 41 (1) ◽  
pp. 219-234 ◽  
Author(s):  
Xiang Wang ◽  
Yifei Wu ◽  
Enze Zhang ◽  
Jian Guo ◽  
Qingwei Chen
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Gear Transmission ◽  
Mathematics Model ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Servo Systems ◽  
Characteristic Model ◽  
Bounded Set

Backlash and inertia variations, which exist in gear transmission servo systems, often bring inaccuracies, oscillations or even instability. This paper presents an adaptive second-order discrete terminal sliding-mode controller (2-ADTSMC) to deal with the problem. The main contributions of this paper are as follows. First, the characteristic model of gear transmission servo system, which reduces the complexity of traditional mathematics model, is established to describe the load inertia variations. Second, the second-order discrete terminal sliding-mode control is firstly designed based on the characteristic model to restrain the backlash effect. Third, theoretical analysis proves that the quasi-sliding mode is reached in finite steps and the tracking error converges into a bounded set in finite steps. The improvement of tracking performance is verified by simulation and experimental results.

scholarly journals Adaptive and Robust Second Order Sliding Mode Controller Dedicated to Nonlinear Uncertain Pendulum Application System

2019 ◽  
Vol 4 (12) ◽  
pp. 20-26
Author(s):  
Hedi Dhouibi ◽  
Jalel Ghabi ◽  
Tarek Selmi
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode ◽  
Research Work ◽  
Adaptive Controller ◽  
Second Order ◽  
Closed Loop System ◽  
Control Gain ◽  
The Stability ◽  
Bounded Uncertainties ◽  
Second Order Sliding Mode

The research work presented within this paper deals with an innovative second-order sliding mode control (SOSMC) allocated to adaptive gain and associated with nonlinear systems subject to unknown but bounded uncertainties. The derived controller   guarantees the control gain dynamical adaptation for the sake of counteracting the system’s uncertainties and to mitigate the chattering phenomenon. The Lyapunov method is also used to analyses the stability of any closed loop system (CLS) within a finite-time under bounded uncertainties assumptions. To assess how effective is the approach considered within this paper, the adaptive controller has been carefully studied on a benchmark of nonlinear systems on a damped overturned pendulum.

scholarly journals Speed Tracking and Synchronization of a Dual-Motor System via Second Order Sliding Mode Control

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Wei Chen ◽  
Yifei Wu ◽  
Renhui Du ◽  
Qingwei Chen ◽  
Xiaobei Wu
Keyword(s):  
Sliding Mode Control ◽  
System Parameter ◽  
Sliding Mode ◽  
Second Order ◽  
Lyapunov Theory ◽  
Motor Systems ◽  
Load Torque ◽  
Mode Control ◽  
Speed Tracking ◽  
Second Order Sliding Mode

Dual-motor systems have been widely used in industrial applications, and speed synchronization of the motors can always be deteriorated by system parameter uncertainties and load torque perturbations. In this paper, a new robust control strategy for the dual-motor systems is developed by incorporating second order sliding mode control (2-SMC) techniques. The strategy is to design chatting-free control laws to stabilize speed tracking of each motor while synchronizing their velocity. In the proposed scheme, firstly, speed controller for a single motor is designed to eliminate the effects of system parameter variations and load torque perturbations. Secondly, a cross-coupled architecture based synchronous controller is designed to reduce speed error of the motors caused by characteristic inconsistency and unbalanced load torque. Stability of the closed loop system is analyzed by Lyapunov theory; it is proven that both speed tracking errors and synchronous error can converge to zero. Finally, experiments are performed to examine the effectiveness of the developed controllers. Experimental results will show the good performance of the proposed control scheme.

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