The observer is based on the equivalent control method. In section iv, the highgain approximate differentiator based sliding mode observer is proposed and analyzed. Jan 17, 2011 i am looking for a a detailed application note on the sliding mode observer s for a pmsm controller. Simulation results using the proposed highgain approximate differentiator based slidingmode. Within the vicinity, the system behavior of further convergence to zero is guaranteed. Pmsm, sliding mode observer,sigmoidal function, tan hyperbolic function i. Sliding mode observer and controller for performance. Learn more about nonlinear systems, nonlinear control, smo, sliding mode observer. Sliding mode observer based sliding mode controller.
Sliding mode control is based on variable structure systems composed with independent structures. The smo is used to estimate rotor speed and rotor position using terminal voltages and currents of. Highgain observer with sliding mode for nonlinear state. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior. First, an exponential functionbased sliding mode reaching law esmrl is developed. A sliding mode observer, which feeds back the output estimation error via a nonlinear switching term, provides an attractive solution to this issue. C 4 based on the above, the sliding mode observer is constructed as follows. Nonuniform stability, detectability, and, sliding mode observer design for time varying systems with unknown inputs markus tranninger, sergiy zhuky, martin steinbergery, leonid fridmanz, and martin horny abstract. Sliding mode observers historical background and basic. Sensorless fieldoriented control of pmsm using sliding. This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. Extended state observerbased sliding mode control with new. Sliding mode observers historical background and basic introduction sarah k. Sliding mode control and observation yuri shtessel.
Sliding mode control smc consists of an algorithm inherently robust to changes in the parameters, nonlinear models, external disturbances and uncertainty. An adaptive secondorder sliding mode observer based on supertwisting algorithm stasmo to estimate rotor position and speed of permanent magnet synchronous motor pmsm is proposed in this pape. Improved sliding mode nonlinear extended state observer based. A new sliding mode speed observer of electric motor drive based on fuzzylogic 222 with. Another approach proposed in 7 10 to estimate the state variables in a pmsm is the use of sliding mode observer smo. For better results we need an observer or a filter. The design of sliding mode observer is based on the machine model.
Robust control technology based on this methodology has been applied to many realworld problems, especially in the areas of aerospace control. According to the theory sliding mode control should be robust, but experiments show that it has serious limitations. The slidingmode observer for a nonlinear system is proposed. The main problem by applying the sliding mode is the high frequency oscillation around the sliding surface, the socalled chattering, which strongly reduces the control performance. Discusses the problem of designing observers for state estimation using sliding modes. The bldc motors are used in places that require fast torque response, high effiency, high power density where torque pulsations problem may. A new sliding mode observer for a class of nonlinear uncertain systems is proposed in this article. Introduction with the development of permanent magnetic materials and control technology, permanent. The mathematical model of pmsm nowadays, synchronous machines, especially pmsm spread increasingly like actuators in. Abstract the present paper proposes a control scheme comprising of a new sliding mode controller smc with sliding mode observer smo for improved performance of a brushless dc bldc motor. A new sliding mode speed observer of electric motor drive. An extended sliding mode observer for speed, position and. Sliding mode sensorless control of pm synchronous motor. Sliding mode control and observation represents the first textbook that starts with classical sliding mode control techniques and progresses toward newly developed higherorder sliding mode control and observation algorithms and their applications.
Simulation results using the proposed highgain approximate differentiator based sliding mode. Pdf discusses the problem of designing observers for state estimation using sliding modes. Automatica462010347 353 oftheoverallobserverarchitecture. Sliding mode control and observation yuri shtessel springer. Nonuniform stability, detectability, and, sliding mode. W e a lso d iscuss the ca pability of the propo sed h igh gain app rox im ate differentiator based sliding m od e ob server in the unkno w n inpu t rec on struction, w hich is then illustrated w ith a nu m erica l exam ple. This nonlinear estimator, based on the variable structure system theory, has been chosen to be of type sliding mode for having many advantages like. Tan, on the development and application of slidingmode observers, in variable structure systems.
Themaincontributionofthis paperistheapplicationoftheslidingmodeobserverpresented. Abstract a slidingmode observer for the rotor flux and speed of an induction motor is presented in this paper. The advantage of observerbased methods is that the parameters of these methods are designed to let the observer be stable. Abstract the design of observers for linear systems with unknown, timevarying, bounded delays on the state and on the input still constitutes an open problem. While others proposed robust sliding mode control for uncertain timedelay systems against the mismatched uncertainties and matched external disturbance 21.
Existence condition of sliding mode and proof of its stability will be given using lyapunov method. Observerbased methods include the luenberger observer 21,22, the sliding mode observer 2332. Higherorder slidingmode observer for state estimation and input reconstruction in nonlinear systems. The focus of much of the research in the area of control systems theory during the seventies and eighties addressed the issue of robustness i. The present volume addresses a range of sliding mode control issues, including. Step by step sliding mode observer for implicit triangular observer. Sliding mode controller with sliding perturbation observer. It is used when the robustness requirement is of utmost importance in vehicle applications and in the presence of strong uncertainties 129. In order to improve the performance of external disturbance rejection of permanent magnet synchronous motor pmsm in speed control, sliding mode control with extended state observer is adopted in this paper. The motivation of this controller is to introduce the lyapunov function vx. An adaptive secondorder slidingmode observer based on supertwisting algorithm stasmo to estimate rotor position and speed of permanent magnet synchronous motor pmsm is proposed in this pape. My motor is in reality a linear motor and i would like to use a sensorless technique to control it. In this paper, a sliding mode observer based on the stator current model is investigated. Depending on the form of the feedback term, classical sliding mode observers can be divided into two classes.
A sliding mode observer for linear systems with unknown. The advantage of this approach is in its robustness to the bending mode dynamics. It is shown that the rotor speed can be estimated with sufficient accuracy. Flexible modes control using sliding mode observers. Sliding mode observers have unique properties, in that the ability to generate a sliding motion on the error between the measured plant output and the output of. In this paper, a terminal sliding mode observer tsmo for systems with general statespace representation is proposed. Pdf higherorder slidingmode observer for state estimation. Exercises provided at the end of each chapter make this an ideal text. Sliding mode observer gain matlab answers matlab central. Voltage and current are combinely used for the purpose of speed and torque estimation. Fuzzy sliding mode control for active suspension system with. Proportional differential sliding mode observer design due to the rank ec. Sliding mode controller design sliding mode control is a special version of an ono control. Since there are no complex matrix operations in the estimation process.
Sliding mode control and observation control engineering. A novel sliding mode observer for state of charge estimation of ev lithium batteries article pdf available in journal of power electronics 163. In two dimensional sliding mode, the system motion is 1 of order which is by two less than the order of the original system. Improved sliding mode nonlinear extended state observer. The sliding mode observer has better dynamic behavior, disturbance resistance and high accuracy estimation ability. Abstractslidingmode observer design is considered for linear systems with unknown inputs when the socalled observer matching condition is not satisfied. Extended state observerbased sliding mode control with.
The effect of uncertainties and disturbances are incorporated in the system. The observer is used in a sensorless indirect field oriented control ifoc. A sliding mode observer for linear systems with unknown time varying delay alexandre seuret, thierry floquet, jeanpierre richard and sarah k. In the current paper, an online fault detection scheme using the sliding mode technology is proposed.
Modeling and simulation of a sliding mode observer for. One nonlinear approach to robust controller design which emerged during this period is the variable. In this case the bending modes are treated as disturbances, with unknown dynamics. If the sliding mode manifold is well designed and when the estimated currents reach the manifold, the sliding mode will be enforced. The proposed sliding mode observer works under much less conservative conditions than previous. Sliding mode control and observation is aimed at graduate students with a basic knowledge of classical control theory and some knowledge of statespace methods and nonlinear systems, while being of interest to a wider audience of graduate students in electricalmechanicalaerospace engineering and applied mathematics, as well as researchers in. The smo is used to estimate rotor speed and rotor position using terminal voltages and currents of the bldc motor. Sliding mode control and observation provides the necessary tools for graduate students, researchers and engineers to robustly control complex and uncertain nonlinear dynamical systems. Pdf a novel sliding mode observer for state of charge. The key idea is to apply strong control action when the system deviates from the desired behavior.
It will run at the equivalent of 60,000 rpms, and i would like to use a 28335 to control it. Faults detection using sliding mode observer and its. Sensorless fieldoriented control of pmsm using sliding mode observer and flux observer open example this example implements the fieldoriented control foc technique to control the speed of a threephase permanent magnet synchronous motor pmsm. The sliding mode observer uses nonlinear highgain feedback to drive estimated states to a hypersurface where there is no difference between the estimated output and the measured output. An adaptive secondorder slidingmode observer for permanent. The theory and design principles are presented for linear and. The sliding mode observer 4 is equivalent to the luenberger observer of reduced order. Sliding mode observer c2000 microcontrollers forum c2000. In section iv, the highgain approximate differentiator based slidingmode observer is proposed and analyzed. The sliding mode control methodology has proven effective in dealing with complex dynamical systems affected by disturbances, uncertainties and unmodeled dynamics. Adaptive backstepping sliding mode control for wheel slip. Higherorder sliding mode observer for state estimation and input reconstruction in nonlinear systems. The proposed method utilizes the observability conditions of the fault signals to design the sliding mode observer to enhance the robustness. In 23, a highgain observer was developed for nominal systems without any uncertainties.
The first one is a sliding mode dsm current observer and the second one is an adaptive electromotive force emf observer. Design and implementation of a slidingmode observer of. Fuzzy sliding mode control for active suspension system. Initially, the sliding conditions that assure the sliding motion around the sliding surface are derived and a design procedure to the dsm current observer is developed. Since the slidingmode rotor position observer of permanentmagnet synchronous motor module requires two constants fsmopos and gsmopos to be input basing on the machine parameters, base quantities, mechanical parameters, and sampling period. Discretetime sliding mode observer for sensorless vector. In this paper a method for estimation of torque is proposed in case of sensorless bldc motor. Moreover, we highlight also the interst of the implicit.
Slidingmode observers for systems with unknown inputs. Sliding mode control smc is one of the most popular pftcs technique due to its advantages of robustness to external disturbances, system parameter variations and model uncertainties 515253. Index termssliding mode control smc, sliding mode ob server smo, slosh. I am looking for a a detailed application note on the sliding mode observer s for a pmsm controller. Sliding mode control an overview sciencedirect topics. Sensorless speed and position estimation of pmsm based on. Sliding mode control versus sliding mode observers. S lid in gm od e o b ser ver s for u n cer tain s ystem s. The statefeedback control law is not a continuous function of time. Sliding mode control using matlab provides many sliding mode controller design examples, along with simulation examples and matlab programs. Pdf sliding mode observer for torque control in sensorless. By neglecting that effect of chattering, sliding mode observer is a very good sensorless method for the estimation of torque and speed.
Koshkouei and zinober 6 have described methods for designing an asymptotically stable observer, the existence of the sliding mode and the stability of state reconstruction systems of mimo linear systems with disturbance input. Backstepping and dynamic surface sliding mode control 7. Smc controller design is mathematically described in 54 and is mentioned below. Sliding mode observer for nonlinear uncertain systems. Design and implementation of a slidingmode observer of the. The esmrl can dynamically adapt to the variations of the controlled system, which decrease the. Sensorless fieldoriented control of pmsm using sliding mode.
542 768 965 98 6 1424 1045 755 896 273 234 1514 32 467 279 1097 535 1307 1434 1229 973 691 375 618 866 296 412 506 174 459 343 1447 949 649 524