Adaptive Sliding Mode Based Position Tracking Control for PMSM Drive System With Desired Nonlinear Friction Compensation

Zou, Quan; Sun, Le; Chen, Dong; Wang, Kuan

doi:10.1109/access.2020.3022956

Cited by 8 publications

(7 citation statements)

References 42 publications

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“…In this control structure, the output of the speed loop is the reference of the current loop. Thus, by suitable calculation from (1), the relationship between the rotor speed and the q-axis current i q can be given as:…”

Section: System Modelling and Problem Formulationmentioning

confidence: 99%

“…Permanent magnet synchronous motor (PMSM) is widely used in medical equipment, robotics, machine tools and other modern industrial applications because of its superior advantages such as simple structure, high torque to inertia ratio, high efficiency and wide speed range [1][2][3]. Essentially, the PMSM is a complex multivariable nonlinear system subjected to parameter variations and external disturbance [2,3].…”

Section: Introductionmentioning

confidence: 99%

“…Although widely used in the speed control of PMSM for its simplicity, it is harder and harder for the traditional proportional-integral-derivative (PID) control to fulfil the increasing high control performance demands of modern industrials [3,4]. In the last few decades, several nonlinear control methods have been developed for the speed control of PMSM, such as adaptive control [5], predictive control [6], back-stepping-based control [7], intelligent control [8,9], and sliding mode control (SMC) [1,3,10].…”

Section: Introductionmentioning

confidence: 99%

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Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

Zou

Chen

2022

IET Power Electronics

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A novel reaching law based sliding mode control of PMSM speed regulation system with uncertainties and unknown external disturbance is proposed in this paper. The proposed reaching law mainly consists of a time‐varying gain and a fractional power term of the sliding variable. And the time‐varying gain is auto‐tuned by the sliding variable such that it is large when the sliding variable is far away from the sliding surface to speed‐up the reaching process, and vice versa. Unlike the existing auto‐tuning power rate reaching law (PRRL), the proposed reaching law provides a guaranteed reaching time independently on initial conditions. Moreover, the reaching time can be effectively reduced by tuning the gains of the reaching law. Based on this new reaching law, a disturbance observer is designed to estimate the unknown total disturbance and a sliding mode controller is designed for the robust control of PMSM speed regulation system based on the estimated disturbance. Simulations and experiments are carried out to verify the effectiveness of the proposed control method.

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Section: System Modelling and Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

Zou

Chen

2022

IET Power Electronics

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“…In recent years, extensive research on the electromechanical servo systems have been conducted locally and internationally [4][5][6]. Some advanced control strategies, such as robust method [7], adaptive control [8,9], model predictive method [10,11], sliding control [12,13], and back-stepping control [14], etc. are often employed together to acquire a better control performance.…”

Section: Introductionmentioning

confidence: 99%

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

Zhang

Wang

et al. 2021

Electronics

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Friction nonlinear disturbance is one of the main factors affecting the control performance of servo tracking system. In this paper, an improved Active Disturbance Rejection Control (ADRC) scheme of dual-axis servo turntable is researched to achieve accurate tracking. Firstly, the mathematical dynamics model of dual-axis servo tracking turntable system is established. The Elastoplastic model is used to describe nonlinear friction, in which the immeasurable part is extended to be a new state. Secondly, considering the smooth and monotonic increasing property of hyperbolic tangent function, an improved tracking differentiator is introduced, which can provide better noise attenuation performance. Thirdly, based on adjustable parameter systematic pole placement method, the fuzzy control algorithm is applied to realize the intelligent tuning of the improved Extended State Observer (ESO) gains, in which the input of the fuzzy controller is the estimation error, while the output is the observer bandwidth. Finally, the improved ADRC system is transformed into a Lurie system, then the extended circle criteria are adopted to analyze the absolute stability of the proposed system. Simulation and experimental verification of the improved ADRC method for the dual-axis turntable tracking servo system are conducted. Results illustrate the effectiveness and robustness of the proposed controller.

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“…Zhou and Li [26] proposed a finite-time robust adaptive sliding mode control of a system with friction compensation, with the stability of the proposed control law proved by the Lyapunov criterion, and the efficiency proved by experience. Zou et al [27] proposed an adaptive sliding mode-based position tracking control for systems with nonlinear friction compensation. This control law is proved experimentally to have a better performance than the commonly used PI feedback control.…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Nonlinear Active Control Strategy Combining Dry Friction Control and Nonlinear Velocity Compensation Control

2021

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Friction dampers are widely used in structural vibration suppression in various fields, such as aeronautics, astronautics, robotics, precision manufacturing, etc. Traditional friction dampers are mainly used in a passive way to optimize vibration suppression with an immutable pressure around certain excitation. In this manuscript, a hybrid control strategy by considering both the friction force in the active control law and a nonlinear velocity compensation force is put forward: First, the normal force applied on the friction damper was adjusted to ensure its vibration reduction effect under different excitation for a first passive control; second, the active control law was established by combining the dry friction force and the velocity control force in the state space; lastly, the stability of the nonlinear control law was determined by Lyapunov criterion. Numerical simulations were conducted on a three degree-of-freedom system (3-DOF) based on the proposed hybrid control strategy, to show the control efficiency in vibration suppression and economic efficiency in energy input into the system. Simulation results showed that the proposed control law could reduce the amplitude of the active control force by about 5% without degrading the control efficiency.

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Adaptive Sliding Mode Based Position Tracking Control for PMSM Drive System With Desired Nonlinear Friction Compensation

Cited by 8 publications

References 42 publications

Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

Observer based sliding mode control of PMSM speed regulation system with a novel reaching law

Improved Active Disturbance Rejection Control of Dual-Axis Servo Tracking Turntable with Friction Observer

A Hybrid Nonlinear Active Control Strategy Combining Dry Friction Control and Nonlinear Velocity Compensation Control

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