Abstract
An incremental motion control problem, specified by a trapezoidal speed command profile using multi-segment sliding mode control (MSSMC), is proposed to control an induction motor (IM) servo drive. Since the control gains in the MSSMC are fixed, chattering responses occur due to large external load disturbances. Therefore, a real-time genetic algorithm (GA) is developed to tune the control gains online. A field-oriented control IM servo drive is implemented and, each segment of the multi-segment switching surface is designed so as to match the corresponding part of the trapezoidal speed command profile. As a consequence, the motor dynamics on the specified segment switching surface have the desired speed or acceleration corresponding to the trapezoidal speed command profile. Theoretical analyses for the proposed GA-based MSSMC are described in detail. The effectiveness of the proposed IM servo drive is demonstrated using simulated and experimental results.
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