Académique Documents
Professionnel Documents
Culture Documents
Wg Cdr D Viswanath
09 Nov 2011
Part I Introduction
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
2/ 1
Introduction
Mathematical model of a physical system is the basis of control system design. (Model Accuracy) Parameters of their physical representation or the ensuing mathematical model need to be measured or accurately estimated for feedback. (Sensors/Estimators) Processes are dynamic and change with time. Hence system dynamics experience unpredictable parameter variations as the control operation goes on. (Uncertainty/Disturbance)
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
3/ 1
Introduction
Mathematical model of a physical system is the basis of control system design. (Model Accuracy) Parameters of their physical representation or the ensuing mathematical model need to be measured or accurately estimated for feedback. (Sensors/Estimators) Processes are dynamic and change with time. Hence system dynamics experience unpredictable parameter variations as the control operation goes on. (Uncertainty/Disturbance)
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
3/ 1
Introduction
Mathematical model of a physical system is the basis of control system design. (Model Accuracy) Parameters of their physical representation or the ensuing mathematical model need to be measured or accurately estimated for feedback. (Sensors/Estimators) Processes are dynamic and change with time. Hence system dynamics experience unpredictable parameter variations as the control operation goes on. (Uncertainty/Disturbance)
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
3/ 1
Introduction
Mathematical model of a physical system is the basis of control system design. (Model Accuracy) Parameters of their physical representation or the ensuing mathematical model need to be measured or accurately estimated for feedback. (Sensors/Estimators) Processes are dynamic and change with time. Hence system dynamics experience unpredictable parameter variations as the control operation goes on. (Uncertainty/Disturbance)
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
3/ 1
Introduction
Examples
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
4/ 1
Introduction
Examples
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
5/ 1
Introduction
Examples
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
6/ 1
Introduction
Examples
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
7/ 1
Introduction
Scope
Formulation of DC Motor Speed Control Problem. Discussion on Sliding Mode Control and applications. Implementation of Sliding Mode Control in Speed Control Problem.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
8/ 1
Introduction
Scope
Formulation of DC Motor Speed Control Problem. Discussion on Sliding Mode Control and applications. Implementation of Sliding Mode Control in Speed Control Problem.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
8/ 1
Introduction
Scope
Formulation of DC Motor Speed Control Problem. Discussion on Sliding Mode Control and applications. Implementation of Sliding Mode Control in Speed Control Problem.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
8/ 1
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
9/ 1
Introduction
Direct current (DC) machines are ubiquitous in their applications and nd extensive use in industry. Speed control of DC machines has been an area of interest by various researchers particularly with respect to non linear control outlook for precision applications and robust control. Sliding mode control (SMC) is one such non linear control technique. SMC is a class of variable structure control systems which is well known for its robustness to uncertainties, non-linearities and external disturbances. SMC has been well-researched and has found a wide variety of applications including electric drives
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
10/ 1
Drives
Lm
Tm(t) m(t)
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
11/ 1
Dynamics of DC Motor
Consider the linear time-invariant (LTI) model of a simple DC drive control system representing the dynamics of shaft angular speed and phase current. h kt 1 (t) = (t) + i(t) Tl (t) J J J ke r 1 i(t) = (t) i(t) + v(t) l l l
(1) (2)
where (t) is the shaft angular speed, i(t) is the phase current, v(t) is the supply voltage, Tl (t) is the load torque, h, kt , r, l, ke and J are the motor parameters. Assume that the load conditions and motor parameters are uncertain.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
12/ 1
Dynamics of DC Motor
The aim of the controller is to force the actual angular speed w(t) to track a reference angular speed (t) inspite of uncertainties and load disturbances. Choosing the system states as x1 = (t), x2 = i(t) and u = v(t), the above dynamics can be represented as x1 = (a11 + a11 )x1 + (a12 + a11 )x2 + w(t) (3) x2 = (a21 + a11 )x1 (a22 x2 + a11 )x2 + (b + b)u where a11 = h , a12 = kt , a21 = kle , a22 = r , b = 1 ,w(t) = J J l l 1 Tl (t) and a11 , a12 , a21 , a22 and b are the uncerJ tainties in motor parameters. (4)
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
13/ 1
Dynamics of DC Motor
A simple matrix representation will be x = (A + A)x + (B + B)u + W (5)
Clubbing all the uncertainties together as the lumped uncertainty E = Ax + Bu + W, the above equation can be rewritten as x = Ax + Bu + E (6)
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
14/ 1
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
15/ 1
Introduction
Feedback control system design is based on certain specications.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
16/ 1
Introduction
Feedback control system design is based on certain specications.
CONTROL SYSTEM DESIGN
TIME DOMAIN SPECIFICATIONS -rise time -settling time -peak overshoot under-damped critically damped over-damped
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
16/ 1
SMC
Variable structure control originated in the early 1950s in the Soviet Union. In their pioneer works, Emelyanov and several co-researchers considered the plant as a linear second-order system modeled in phase variable form. The most important property of VSC is its ability to result in very robust control systems; in many cases invariant control systems. Invariance means that the system is completely insensitive to parametric uncertainty and external disturbances. Successful results have been reported in terms of eliminating disturbances, addressing nonlinearities, and achieving acceptable control in the presence of modeling errors.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
17/ 1
SMC
Variable structure control (VSC) results in high performance systems that are robust to parameter uncertainties and noise. Design of such systems includes two steps:(a) Choosing a set of switching surfaces that represent some sort of a desired motion and (b) Designing a discontinuous control law that guarantees the attractiveness of the switching surfaces and ensures convergence to the switching surfaces.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
18/ 1
SMC Sliding Mode Control (SMC) is best explained with a second order system whose phase plane plot clearly shows the response of the system when in sliding mode. Consider a system represented by x1 = x2 x2 = a1 x1 a2 x2 + bu where a1 and a2 and b are parameters that are not exactly known but some knowledge about their range is known i.e., ai < ai < ai where i = 1, 2, and 0<b<b<b<1
Wg Cdr D Viswanath CONTROL OF DRIVES Nov 2011 19/ 1
(7)
SMC
The control is to be designed such that the system trajectory is attracted to the sigma line and once the trajectory intersects it, keep switching the control to keep the trajectory on the sigma line so that it does not leave it. As a result after a certain nite time, the system is governed by the equation of the sigma line only and not on the system equation. Thus the dynamics will be independent of the system parameters.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
20/ 1
SMC One such trajectory is shown in the phase plane plot of gure below.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
21/ 1
SMC
Along the curve PQ the system is aected by system equation . This is called the reaching phase. Along the line QO the system is aected by sliding mode equation . = c 1 x1 + x 2 = 0 (8)
This is called the sliding mode (SM) phase. The control initially applied in equation helps the system trajectory to move towards the sigma line. Thereafter the control is switched so that the trajectory does not leave the sigma line.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
22/ 1
SMC
The switching action can be explained as follows: (a) When the trajectory (consider curve PQ) crosses the sigma line, sigma becomes greater than zero. We now use a control that makes the rate of change of sigma become less than zero so that the trajectory is brought back to the sigma line. (b) If now the trajectory crosses the sigma line again but from the opposite direction, sigma becomes less than zero. We use a control that makes the rate of change of sigma to become greater than zero so that the trajectory is again brought back to the sigma line.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
23/ 1
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
24/ 1
Initial Data
The reference input um is chosen as a square waveform of amplitude 100 V with a frequency of 0.1 Hz. The load torque applied is 5 N m which is represented in the E matrix. The sliding surface is chosen as S = [4 1]T . The adaptation gains are chosen as 0 = 0.01 and 1 = 0.01.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
25/ 1
Error Plot
Figure ?? shows that the error between the reference and plant states goes to zero inspite of a constant load torque of 5N m applied..
Figure: Error
Wg Cdr D Viswanath CONTROL OF DRIVES Nov 2011 26/ 1
Figure ?? shows that the plant state x1 which represents the speed follows that of the reference model.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
27/ 1
Figure ?? shows that the plant state x2 which represents the phasing current follows that of the reference model.
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
28/ 1
QUESTIONS PLEASE?
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
29/ 1
THANK YOU
Wg Cdr D Viswanath
CONTROL OF DRIVES
Nov 2011
30/ 1