Abstract
Sliding mode control (SMC) of electric drives constitutes a very popular control method for nonlinear multivariable and time-varying systems, e.g., induction motor (IM) drives. Nowadays, IM are the most popular electrical machines (EM) applied in many industrial applications as motion control devices, including electrical and hybrid vehicles. Nowadays, the control systems of EM are mostly realized using digital techniques (microprocessors and microcontrollers). Therefore, all control algorithms should be discretized or the whole control system should be designed in the discrete-time domain. This paper deals with a discrete-time sliding mode control (DSMC) for IM drives. The discrete algorithms for sliding mode control of the motor speed and rotor flux are derived in detail and next tested in simulation research. The simulation tests include the discrete nature of the power converter supplying the IM and present excellent performance of the developed control structure. To obtain the rotor speed regulation invariant to external disturbances, like load torque or inertia, especially during the reaching phase of the switching line, the discrete version of a time-varying switching line was introduced. It is shown that the assumed dynamics of the IM flux and speed is achieved and the proposed control algorithm can be realized using commonly available microcontrollers. The paper is illustrated with comprehensive simulation results for 1.5 kW IM drive, which are verified by experimental tests.
Highlights
Induction motor drives are extensively used in many industrial mechatronics systems, such as tool spindle drives, robotic systems, electrical vehicles (EVs) and different manufacturing systems, due to their low manufacturing cost, low maintenance cost, high ruggedness and reliability.induction motor (IM) are used for position, speed and torque control, using different control methods, like vector control, adaptive control, predictive control, and sliding mode control (SMC)
IM are used for position, speed and torque control, using different control methods, like vector control, adaptive control, predictive control, and sliding mode control (SMC)
The setup was equipped with a field-programmable gate array (FPGA)
Summary
IM are used for position, speed and torque control, using different control methods, like vector control, adaptive control, predictive control, and sliding mode control (SMC). These control methods enable precise control of all state variables of such nonlinear multivariable and time-varying systems, like IM drives. The above control strategies are mostly based on the continuous time-domain IM mathematical models and can become less effective in microprocessor-based implementation, mainly under low control and switching frequency, which is essential, e.g., in medium to high power drives. SMC is most frequently designed taking into account continuous time operation, and afterwards the control structure is discretized, to allow digital implementation on a final control system. The sliding mode (SM) ensures excellent dynamics, easy implementation, robustness over parameter uncertainties
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