Vous êtes sur la page 1sur 36

CONTROL OF ELECTRIC DRIVES USING SLIDING MODE CONTROL

Wg Cdr D Viswanath

Guide: Dr.Dipankar Deb

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

Figure: Process Control

Wg Cdr D Viswanath

CONTROL OF DRIVES

Nov 2011

4/ 1

Introduction

Examples

Figure: Robot Manipulation

Wg Cdr D Viswanath

CONTROL OF DRIVES

Nov 2011

5/ 1

Introduction

Examples

Figure: Steering Ship

Wg Cdr D Viswanath

CONTROL OF DRIVES

Nov 2011

6/ 1

Introduction

Examples

Figure: Aircraft Control

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

Part II Control of DC Electric Motors

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

Speed Control of DC Motors


Rm + Im(t) + Vm(t) Eemf (t) Figure: Armature Circuit of DC Motor

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

Part III Sliding Mode Control

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

FREQUENCY DOMAIN SPECIFICATIONS -stability -gain margin -phase margin

stable n conditionally stable unstable

Figure: Control System Design

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.

Figure: Sliding Mode Control Phase Plot

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

Part IV Simulation Results

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.

Figure: Reference and Plant Output States x1 .

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.

Figure: Reference and Plant Output States x2 .

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

Vous aimerez peut-être aussi