High-order, sliding-mode-based precise control of direct-drive systems under heavy uncertainties

2007 ◽  
Vol 221 (5) ◽  
pp. 791-805 ◽  
Author(s):  
S Bogosyan ◽  
A Arabyan
Keyword(s):  
High Speed ◽  
High Performance ◽  
Sliding Mode ◽  
High Order ◽  
The Novel ◽  
Direct Drive ◽  
Tracking Accuracy ◽  
Actuator Dynamics ◽  
Precise Position ◽  
Continuous Input

The high-performance control of direct-drive (DD) systems requires the full system dynamic effects to be taken into account owing to the eliminated gear mechanism. The actuator dynamics and structural flexibilities become of increased importance, particularly when high-speed, high-accuracy operation of lightweight structures is aimed for; however, in most related literature, these effects are neglected to avoid increased computational complexity at the expense of compromising the tracking accuracy of the system in the transient and steady state. As a solution to the problem, in this study, high-order, sliding-mode (HOSM) controllers (HOSMCs) are developed, which exploit the robustness properties of sliding-mode controllers (SMCs) while also increasing accuracy by reducing chattering effects. Different from standard HOSMCs, which are derived by artificially increasing the system order, the third-order HOSM (3-HOSM) control laws in this study are derived by including the actuator dynamics and structural flexibilities in the control design process. Two HOSMCs are developed for this purpose: one with a discontinuous input and one with a continuous input aimed at reducing chattering. The performance of the novel HOSMCs is tested by simulations for the precise position and tracking control of a one-degree-of-freedom (1DOF) DD weapon-positioning system as an example of a direct-drive system under heavy uncertainties and external disturbances. The improved accuracy obtained, particularly with the novel continuous-input 3-HOSMC, motivates the implementation of the schemes for demanding control applications under heavy uncertainties.

High-Performance Motion Control With Slosh: A Constrained Sliding Mode Approach

2008 ◽  
Author(s):  
Hanz Richter ◽  
Kedar B. Karnik
Keyword(s):  
High Speed ◽  
High Performance ◽  
Design Methodology ◽  
Closed Loop ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Rectilinear Motion ◽  
Industrial Setting ◽  
Open Container ◽  
Nominal Performance

The problem of controlling the rectilinear motion of an open container without exceeding a prescribed liquid level and other constraints is considered using a recently-developed constrained sliding mode control design methodology based on invariant cylinders. A conventional sliding mode regulator is designed first to address nominal performance in the sliding mode. Then an robustly-invariant cylinder is constructed and used to describe the set of safe initial conditions from which the closed-loop controller can be operated without constraint violation. Simulations of a typical transfer illustrate the usefulness of the method in an industrial setting. Experimental results corresponding to a high-speed transfer validate the theory.

Test Results and Analytical Predictions for Rotor Drop Testing of an AMB Expander/Generator

2006 ◽  
Author(s):  
Lawrence Hawkins ◽  
Alexei Filatov ◽  
Shamim Imani ◽  
Darren Prosser
Keyword(s):  
High Speed ◽  
High Performance ◽  
Time History ◽  
Test Results ◽  
Direct Drive ◽  
Flow Loop ◽  
Low Loss ◽  
Model Predictions ◽  
Full Speed ◽  
Insight Into

A cryogenic gas expander system that incorporates a high performance, high-speed permanent magnet, direct-drive generator and low loss magnetic bearings is described. Flow loop testing to 30,000 rpm was completed at the system manufacturer’s facility in January 2005, and field installation is scheduled for October 2005. As part of the system testing, the rotor was dropped onto the backup bearings multiple times at an intermediate speed and at 30,000 rpm. Orbit and time-history data from a full speed drop and spin down are presented and discussed in detail. A transient, nonlinear rotordynamic analysis simulation model was developed for the machine to provide insight into the dynamic behavior. The model includes the dead band clearance, the flexible backup bearing support and hard stop. Model predictions are discussed relative to the test data.

scholarly journals An Improved Super-Twisting High-Order Sliding Mode Observer for Sensorless Control of Permanent Magnet Synchronous Motor

Energies ◽  
2021 ◽  
Vol 14 (19) ◽  
pp. 6047
Author(s):  
Yujiao Zhao ◽  
Haisheng Yu ◽  
Shixian Wang
Keyword(s):  
Permanent Magnet ◽  
High Performance ◽  
Sliding Mode ◽  
Sensorless Control ◽  
Permanent Magnet Synchronous Motor ◽  
High Order ◽  
Sliding Mode Observer ◽  
Estimation Accuracy ◽  
Permanent Magnet Synchronous Motors ◽  
Rotor Position

This article presents an improved super-twisting high-order sliding mode observer for permanent magnet synchronous motors to achieve high-performance sensorless control. The proposed observer is able to simultaneously estimate rotor position and speed, as well as track parameter disturbances online. Then, according to the back-EMF model, the sensorless observer is further constructed to improve the estimation effect. The estimated rotor position and speed are used to replace the actual values detected by the sensor, and the estimated parameter disturbances are considered as feedback values to compensate the command voltage. In this way, not only is the estimation accuracy improved, but the robustness against uncertainties is also enhanced. Simulation and experimental results show that the proposed observer can effectively track the rotor position and speed and obtain good dynamic and steady-state performance.

Novel dual-redundancy electro-hydrostatic actuator research and controller design

2019 ◽  
Vol 233 (16) ◽  
pp. 5874-5886
Author(s):  
Wending Li ◽  
Guanglin Shi
Keyword(s):  
High Performance ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Model Simulation ◽  
The Novel ◽  
Task Requirements ◽  
Actuator System ◽  
Physical Model Simulation ◽  
System Prototype

The paper proposes a novel dual-redundancy motor pump for the electro-hydrostatic actuator. Rather than the traditional single motor pump electro-hydrostatic actuator system, the system proposed in this paper can operate in three working modes and automatically adjust its operating condition in accordance with task requirements. The novel dual-redundancy electro-hydrostatic actuator system prototype was developed, and a high-performance control method was proposed and applied to the system, combining proportional–integral–derivative and sliding mode control to study the control strategy and implementation method of double closed loop. In addition, a physical model simulation was conducted on the basis of Amesim for this electro-hydrostatic actuator under several working conditions. Results showed that the dual-redundancy electro-hydrostatic actuator can decrease power loss and demonstrate excellent performance and reliability.

Test Results and Analytical Predictions for Rotor Drop Testing of an Active Magnetic Bearing Expander/Generator

2006 ◽  
Vol 129 (2) ◽  
pp. 522-529 ◽  
Author(s):  
Lawrence Hawkins ◽  
Alexei Filatov ◽  
Shamim Imani ◽  
Darren Prosser
Keyword(s):  
High Speed ◽  
High Performance ◽  
Time History ◽  
Magnetic Bearing ◽  
Active Magnetic Bearing ◽  
Test Results ◽  
Direct Drive ◽  
Flow Loop ◽  
Low Loss ◽  
Full Speed

A cryogenic gas expander system that incorporates a high-performance, high-speed permanent magnet, direct-drive generator and low loss magnetic bearings is described. Flow loop testing to 30,000rpm was completed at the system manufacturer’s facility in January 2005, and field installation is scheduled for October 2005. As part of the system testing, the rotor was dropped onto the backup bearings multiple times at an intermediate speed and at 30,000rpm. Orbit and time-history data from a full speed drop and spin down are presented and discussed in detail. A transient, nonlinear rotordynamic analysis simulation model was developed for the machine to provide insight into the dynamic behavior. The model includes the dead band clearance, the flexible backup bearing support, and hard stop. Model predictions are discussed relative to the test data.

Application of Sliding Mode Cascade Controller in AC Servo System

2013 ◽  
Vol 748 ◽  
pp. 731-734
Author(s):  
Ying Zhang ◽  
Peng Li ◽  
Ya Jun Guo
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Sliding Mode ◽  
Servo System ◽  
System Response ◽  
System Control ◽  
Tracking Accuracy ◽  
Ac Servo System ◽  
Mode Control ◽  
Ac Servo

According to the requirement of high precision and high speed in an AC servo system, based on sliding mode control theory, a cascade control is put forward. Sliding mode controller of the speed loop is applied to reduce the system steady state error and increases system response speed, and the sliding mode control of the position loop is applied to improve the system dynamic tracking accuracy and system robustness. According to the simplified mathematical model of the position loop and speed loop, system control law is derived. Experiment results show that the proposed sliding mode cascade controller can guarantee the dynamic performance of the servo system.

scholarly journals High-Performance Tracking for Piezoelectric Actuators Using Super-Twisting Algorithm Based on Artificial Neural Networks

Mathematics ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 244
Author(s):  
Cristian Napole ◽  
Oscar Barambones ◽  
Mohamed Derbeli ◽  
Isidro Calvo ◽  
Mohammed Yousri Silaa ◽  
...  
Keyword(s):  
Neural Networks ◽  
Artificial Neural Networks ◽  
High Performance ◽  
Piezoelectric Actuators ◽  
The Novel ◽  
Tracking Accuracy ◽  
Novel Structure ◽  
Novel Approach ◽  
Artificial Neural ◽  
Twisting Algorithm

Piezoelectric actuators (PEA) are frequently employed in applications where nano-Micr-odisplacement is required because of their high-precision performance. However, the positioning is affected substantially by the hysteresis which resembles in an nonlinear effect. In addition, hysteresis mathematical models own deficiencies that can influence on the reference following performance. The objective of this study was to enhance the tracking accuracy of a commercial PEA stack actuator with the implementation of a novel approach which consists in the use of a Super-Twisting Algorithm (STA) combined with artificial neural networks (ANN). A Lyapunov stability proof is bestowed to explain the theoretical solution. Experimental results of the proposed method were compared with a proportional-integral-derivative (PID) controller. The outcomes in a real PEA reported that the novel structure is stable as it was proved theoretically, and the experiments provided a significant error reduction in contrast with the PID.

Continuous dynamic sliding mode control of converter-fed DC motor system with high order mismatched disturbance compensation

2020 ◽  
Vol 42 (14) ◽  
pp. 2812-2821 ◽  
Author(s):  
Arshad Rauf ◽  
Shihua Li ◽  
Rafal Madonski ◽  
Jun Yang
Keyword(s):  
High Performance ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Stability Theory ◽  
High Order ◽  
Engineering Practice ◽  
Sliding Mode Controller ◽  
Multiple Sources ◽  
Continuous Dynamic ◽  
Dynamic Sliding Mode

The combination of DC-DC buck power converters with DC motors for generating the so-called smooth start of drives has many advantages in engineering practice. Achieving high performance of such systems is, however, limited by the influence of disturbances/uncertainties of multiple sources. Some of the disturbances are mismatched, which makes them even more difficult to handle. Furthermore, the relatively high order of system dynamics makes the control design challenging. In this paper, a control structure with continuous dynamic sliding mode controller with a finite-time disturbance observer is proposed to address these practical issues. First, a special state transformation is applied, aggregating the acting disturbances/uncertainties in a sole perturbing term of the system expressed in new coordinates. Then, the observer estimates in real time the information about the lumped disturbances based on already available input/output signals and the obtained estimated signals (and their high order time-derivatives) are used to construct a sliding surface. Finally, the sliding mode controller is applied to achieve high performance of the resultant plant dynamics and to robustify the governing scheme against modelling discrepancies. The stability of the closed-loop system is proved here using Lyapunov stability theory and the efficiency of the proposed control method is validated through a multi-criteria numerical simulation.

High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error

2011 ◽  
Vol 1 (4) ◽  
pp. 19-43 ◽  
Author(s):  
Dereje Shiferaw ◽  
Anamika Jain ◽  
R. Mitra
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Computation Time ◽  
Variable Structure ◽  
Joint Space ◽  
Stewart Platform ◽  
Task Space ◽  
Tracking Accuracy ◽  
Synchronization Errors ◽  
Equivalent Control

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task space and the discontinuous switching controller part is computed in joint space and hence it is a hybrid of the two approaches. The hybrid implementation helps to reduce computation time and to achieve high performance in task space without the need to measure or estimate 6DOF task space positions. Effect of actuator friction, backlash and parameter variation due to loading have been studied and simulation results confirmed that the controller is robust and achieves better tracking accuracy than other types of sliding mode controllers and simple PID controller.

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