Electromechanical control systems simulator ecss is the first simulator written in turkish and dedicated for electromechanical systems. Sliding mode control design principles and applications to electric drives vadim i. Lagranges equations of motion for elec tromechanical systems 7. Sliding mode control in electromechanical systems crc. Sliding mode control in electromechanical systems automation. The key idea is to apply strong control action when the system deviates from the desired behavior. Control of electromechanical systems using sliding mode. Apply sliding mode theory to solve control problems.
This paper deals with the design, simulation and implementation of a digital sliding mode controller for brushless dc motorbased electromechanical actuator. Sliding mode control in electromechanical systems 7859. Improve reliability of your electromechanical systems, equipment and. Figure 1 shows an example trajectory of a system under sliding mode control.
Pdf adaptive sliding mode control for quadrotor helicopter. The step response of the uncontrolled, free motion of system 3. Sliding mode control in electromechanical systems vadim. The reader is encouraged to model the systems and controls proposed with 20sim, preferably using the bond graph formalism. Sliding mode control design principles and applications to. Author of five books and more than 300 technical papers, he was awarded the lenin prize the highest scientific award in the former soviet union and was ford chair of electromechanical systems from 1994 to 2002 at the ohio state university. In this framework the control effort goes to zero as the state approaches the sliding surface, a key. Sliding mode controller for electromechanical system with.
Firstly, a mathematic model of the actuator is drawn from its structure. Generalized slidingmode control for multiinput nonlinear systems ronald m. A modelfree control system based on the sliding mode. Sliding mode control in electro mechanical systems. Sliding mode control encyclopedia of life support systems. Logicalmathematical model of decision making in central nervous system sems. The statefeedback control law is not a continuous function of time. The book provides an overview of the feedback control systems and their associated definitions. Sliding mode control in electro mechanical systems abebooks. Read download sliding mode control pdf pdf download. Utkin, sliding mode control in electromechanical systems au. Pdf a new algorithm for continuous sliding mode control with. Electromechanical systems, 1st edition davis, 2018.
In this thesis, a novel sliding mode control strategy for mechanical systems with. Electromechanical systems, taylor and francis, london, 1999. Sliding mode control in electromechanical systems pdf. Sliding mode control of electromechanical systems heide brandtst.
Design, analysis and matlab simulation liu, jinkun, wang, xinhua on. 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 system s normal behavior. They provide inherent order reduction, direct incorporation of robustness against system uncertainties and. The proposed controller is adopted to control speed of. Chatteringfree slidingmode control for electromechanical. Electromechanical engineering systems courseware matlab. This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of statespace methods. Electrical drives play an important role as electromechanical energy converters a. In order to improve dynamical performances with static and dynamic specifications, we propose a systematic procedure to compute the gains of the. Since the sliding mode control has a strong robustness 8,9, the sliding mode control can exactly make up for this defect which can be suppressed by the gain of sliding mode control and the.
Electromechanical systems, sliding mode control, low pass filter, chattering attenuation 1. This approach is appropriate to electromechanical systems like. Sliding mode control theory seeks to produce controllers to over some such mismatches. Sliding mode control in electromechanical systems automation and control engineering by shi, jingxin,guldner, juergen,utkin, vadim and a great selection of related books, art and collectibles available now at. Electromechanical systems maintenance strategy selection. Sliding mode control of the electromechanical system.
Sliding mode control of boost converter is studied. Eee 343 electromechanical devices and machines i introduces students to the basics of electromechanical energy conversion with emphasis on d. The simulator has also user definedable multilanguage support feature. The primary aim of this paper is to show the possibility to use the slidingmode technique for the control design of the electromechanical system that can have a different topology and consist of. Sliding mode control in electromechanical systems 7859 sliding mode control in electromechanical systems 7859 description. Sliding mode control in electromechanical second edition vadim utkin ohio state university columbus, ohio, u. A catalogue record for this book is available from the british library. Introduction in nonlinear control theory, sliding mode control is a robust control system capable of handling systems with modelling inaccuracies and outside disturbances. Sliding mode control is a well known robust control algorithm for linearas well as nonlinear systems decarlo et al.
The strengths of sliding mode controllers result from the ease and flexibility of the methodology for their design and implementation. Considering the backlash nonlinearity and parameter timevarying characteristics in electromechanical actuators, a chatteringfree slidingmode control strategy is proposed in this paper to regulate the rudder angle and suppress unknown external disturbances. Modelfree, sliding mode control, multiinput multioutput, actuator dynamics, quadrotor 1. Lmi sliding mode control approach for electromechanical. This book describes approaches to solving the problems of developing the central nervous system of robots cnsr based on smart electromechanical systems. Sliding mode control in electromechanical systems utkin v. Pdf sliding mode control on electromechanical systems. Quadrotor, sliding mode control, adaptive control, supertwisting. Secondly, sliding mode control algorithm with the approach to weaken chattering is designed for the system, and simulations are carried out under matlabsimulink.
Systems focuses on the principles of modelbased design, dynamic analysis. Robust control technology based on this methodology has been applied to many realworld problems, especially in the areas of aerospace control, electric power systems, electromechanical systems, and robotics. The sliding mode control is demonstrated for linear timeinvariant systems and for control of induction motors. In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is. It is best to mount the black box close to the actuators but may also be mounted near the keypad if necessary. Advanced sliding mode control for mechanical systems. Vadim utkin is one of the originators of the concepts of variable structure systems and sliding mode control. Sliding mode control in electromechanical systems utkin. Interest in smc has grown rapidly since the first edition of this book was published.
In control system, sliding mode control, or smc, is a nonlinear control method that alters. Hirschorn abstractthe purpose of this paper is to present a framework for the design of slidingmode based controllers for multiinput af. Design of sliding mode controller for robot manipulator vsc systems comprise a collection of different, usually quite simple, feedback control laws and a decision rule. In the design of sliding mode controller the first stage is a design of sliding surface while the second is forces the state to approach the sliding surface from any other region of the state space, and remains on it 1 refer fig. Sliding mode control has for many years been recognized as one of the key approaches for the systematic design of. Additional to the mechanical variables, the variable of the electrical system, the current, in. Lee, analysis and design of integral sliding mode control based on lyapunovs direct method.
Sliding mode technique in the task of the drive control. They establish a very important class of industrial components often found in current. Sliding mode control for bldc electromechanical actuator. Sliding mode control smc is gaining increasing importance as a universal design tool for the robust control of linear and nonlinear systems. Sliding mode control in electromechanical systemsbyvadim utkin, jurgen guldner, jing shi. Design and implementation of sliding mode controller for. Electrical and computer engineering 205 dreese labs 2015 neil ave. Its strengths result from its simple, flexible, and highly costeffective approach to design and implementation.
This paper presents a control approach that is based on the combination of linear matrix inequalities and sliding mode control. Sliding mode control and observation represents the first textbook that starts with classical sliding mode control techniques and. This paper will formally present sliding mode control methods for quantum systems to deal. Sliding mode control in electromechanical systems, second. The sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant oper slideshare uses cookies to improve functionality and performance, and to provide you with relevant advertising. Electromechanical systems may be considered as devices transforming electrical into mechanical energy. Introduction the sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant operating under uncertainty. Control of electromechanical systems using sliding mode techniques. Sliding mode control in electromechanical systems utkin pdf.
The effectiveness of the control solution is established by the stability analysis of the closedloop system dynamics. Control systems, servosystems, servomechanisms, electrical machines, control theory collection. Download free courseware for electromechanical engineering systems from. Shi, sliding modes control in electromechanical systems. Introduction to electromechanical systems chapter 2 analysis of electromechanical torque characteristics chapter 2. Of course, this is not always the case unless some precautions are taken. Electromechanical systems and devices crc press book students entering todays engineering fields will find an increased emphasis on practical analysis, design, and control. They must be able to translate their advanced programming abilities and sound theoretical. Advanced control design with application to electromechanical systems 1st edition isbn. Sliding mode control in electromechanical systems by. Columbus, oh 43210 614 2922572 phone 614 2927596 fax. Utkin abstractthe paper deals with the basic concepts, mathemat ics, and design aspects of variable structure systems as well as sliding modes as a principle operation mode. Find a high and dry location to mount the black control box and as close to the trim tab actuators as possible.
Moreover, some important control problems involving uncertain mechanical. Abstractthis article proposes a sliding mode control for electromechanical systems, for instance a dc motor with an inverted pendulum as load is considered. The motivation of this controller is to introduce the lyapunov function vx. Nonlinear control and filtering using differential flatness. Sliding mode controller design sliding mode control is a special version of an ono control. Advanced control design with application to electromechanical. Applications of passive control to electromechanical systems upc. Electromechanical control systems simulator ecss with. Different from most existing backlash compensation methods, a special continuous function is addressed to approximate the backlash. Moldoveanu, f sliding mode controller design for robot manipulators 99 this is the 2nthorder system having n input. Sliding mode control smc is a useful robust control strategy in classical control theory and industrial applications 3739. Sliding mode control in electromechanical systems, 2d ed. Electromechanical systems and devices crc press book. Permanent magnets attract some things like iron and steel, but not others like wood and glass.
528 431 281 1065 247 1423 889 522 752 590 1304 1285 686 808 20 131 633 1240 523 412 633 10 790 4 1517 324 1517 1187 1189 1346 791 883 378 772 300 990 671 1188