Sliding Mode Position Control for Permanent Magnet Synchronous Motors Based On Passivity Approach
In this paper, a sliding mode control method based on the passivity approach is proposed to control the position of surface-mounted permanent magnet synchronous motors (PMSMs). Firstly, the dynamics of a PMSM was proved to be strictly passive. The position controller with an adaptive law was used to estimate the load torque to eliminate the chattering effects associated with the conventional sliding mode controller. The stability analysis of the overall position control system was carried out by adopting the passivity theorem instead of Lyapunov-type arguments. Finally, experimental results were provided to show that the good position tracking can be obtained, and exhibit robustness in the variations of the motor parameters and load torque disturbances.
[1] W. Leonhard, Control of Electrical Drives. New York: Springer-Verlag, 2001.
[2] F. Blaschke, "The principle of field orientation as applied to the new transvector closed-loop control system for rotating-field machines,” Siemens Review, vol. 39, no. 5, pp. 217-220, 1972.
[3] J. C. Willems, "Dissipative dynamical systems—Part I: General theory,” Archive for Rational Mechanics and Analysis, vol. 45, pp. 321-393, 1972.
[4] P. Wu, Y. Sun, and Z. Ji, "Passivity-based fuzzy sliding mode control system for induction motors,” in Proc. of the IEEE Int. Conf. Control and Automation, 2007, pp. 611-616.
[5] S. Rao, M. Buss, and V. Utkin, "Sliding mode based stator flux and speed observer for induction machines,” in Proc. of the Int. Workshop Variable Structure Systems, 2008, pp. 95-99.
[6] S. Ryvkin and E. P. Lever, Sliding Mode Control for Synchronous Electric Drives. Boca Raton: CRC Press, 2012.
[7] V. I. Utkin, "Sliding mode control design principles and applications to electric drives,” IEEE Trans. Industrial Electronics, vol. 40, no. 1, pp. 23-36, 1993.
[8] J.-J. E. Slotine and J. S. S. Sastry, "Tracking control of nonlinear systems using sliding surfaces with application to robot manipulators,” Int. J. Control, vol. 38, no. 2, pp. 465-492, 1983.
[9] E. Y. Y. Ho and P. C. Sen, "Control dynamics of speed drive systems using sliding mode controllers with integral compensation,” IEEE Trans. Industry Applications, vol. 27, no. 5, pp. 883-892, 1991.
[10] P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric Machinery and Drive Systems. New York: John Wiley & Sons, 2002.
[11] H. K. Khalil, Nonlinear Systems. New Jersey: Prentice-Hall, 2002.
[12] I. D. Landau and R. Horowitz, "Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators,” Int. J. Adaptive Control and Signal Processing, vol. 3, pp. 23-38, 1989.
[13] C. I. Byrnes, A. Isidori, and J. C. Willems, "Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems,” IEEE Trans. Automatic Control, vol. 36, no. 11, pp. 1228-1240, 1991.
[1] W. Leonhard, Control of Electrical Drives. New York: Springer-Verlag, 2001.
[2] F. Blaschke, "The principle of field orientation as applied to the new transvector closed-loop control system for rotating-field machines,” Siemens Review, vol. 39, no. 5, pp. 217-220, 1972.
[3] J. C. Willems, "Dissipative dynamical systems—Part I: General theory,” Archive for Rational Mechanics and Analysis, vol. 45, pp. 321-393, 1972.
[4] P. Wu, Y. Sun, and Z. Ji, "Passivity-based fuzzy sliding mode control system for induction motors,” in Proc. of the IEEE Int. Conf. Control and Automation, 2007, pp. 611-616.
[5] S. Rao, M. Buss, and V. Utkin, "Sliding mode based stator flux and speed observer for induction machines,” in Proc. of the Int. Workshop Variable Structure Systems, 2008, pp. 95-99.
[6] S. Ryvkin and E. P. Lever, Sliding Mode Control for Synchronous Electric Drives. Boca Raton: CRC Press, 2012.
[7] V. I. Utkin, "Sliding mode control design principles and applications to electric drives,” IEEE Trans. Industrial Electronics, vol. 40, no. 1, pp. 23-36, 1993.
[8] J.-J. E. Slotine and J. S. S. Sastry, "Tracking control of nonlinear systems using sliding surfaces with application to robot manipulators,” Int. J. Control, vol. 38, no. 2, pp. 465-492, 1983.
[9] E. Y. Y. Ho and P. C. Sen, "Control dynamics of speed drive systems using sliding mode controllers with integral compensation,” IEEE Trans. Industry Applications, vol. 27, no. 5, pp. 883-892, 1991.
[10] P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric Machinery and Drive Systems. New York: John Wiley & Sons, 2002.
[11] H. K. Khalil, Nonlinear Systems. New Jersey: Prentice-Hall, 2002.
[12] I. D. Landau and R. Horowitz, "Applications of the passive systems approach to the stability analysis of adaptive controllers for robot manipulators,” Int. J. Adaptive Control and Signal Processing, vol. 3, pp. 23-38, 1989.
[13] C. I. Byrnes, A. Isidori, and J. C. Willems, "Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems,” IEEE Trans. Automatic Control, vol. 36, no. 11, pp. 1228-1240, 1991.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:67596", author = "Jenn-Yih Chen and Bean-Yin Lee and Yuan-Chuan Hsu and Jui-Cheng Lin and Kuang-Chyi Lee", title = "Sliding Mode Position Control for Permanent Magnet Synchronous Motors Based On Passivity Approach", abstract = "In this paper, a sliding mode control method based on the passivity approach is proposed to control the position of surface-mounted permanent magnet synchronous motors (PMSMs). Firstly, the dynamics of a PMSM was proved to be strictly passive. The position controller with an adaptive law was used to estimate the load torque to eliminate the chattering effects associated with the conventional sliding mode controller. The stability analysis of the overall position control system was carried out by adopting the passivity theorem instead of Lyapunov-type arguments. Finally, experimental results were provided to show that the good position tracking can be obtained, and exhibit robustness in the variations of the motor parameters and load torque disturbances.
", keywords = "Adaptive law, passivity theorem, permanent magnet synchronous motor, sliding mode control. ", volume = "8", number = "7", pages = "1240-4", }
