Adaptive TSK fuzzy sliding mode control design for switched reluctance motor DTC drive systems with torque sensorless strategy

Wang, Shun-Yuan; Liu, Foun-Yuan; Chou, Jen-Hsiang

doi:10.1016/j.asoc.2018.02.023

Cited by 20 publications

(9 citation statements)

References 13 publications

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“…In this research, the Takagi-Sugeno-Kang (TSK) fuzzy system [61][62][63][64][65] is utilized for the regulation of learning rate parameters c 1 , c 2 , and c 3 which could be constructed from the following rules: if e is A l , then y l j � B l j e, where A l (l � 1, 2, 3) are the fuzzy sets depicted in Figure 2, B l j are constant parameters for the lth rule and jth learning rate which would be found by the optimization process. Given an input e ∈ U ⊂ R, output c j ∈ V ⊂ R of the TSK fuzzy system is computed as the weighted average of y l, j s as follows:…”

Section: Fuzzy Systemsmentioning

confidence: 99%

Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller

Mahmoodabadi

Nejadkourki

2020

Journal of Robotics

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This work presents a novel fuzzy adaptive sliding mode-based feedback linearization controller for trajectory tracking of a flexible robot manipulator. To reach this goal, after deriving the dynamical equations of the robot, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one and find the control law. Then, the sliding mode control strategy is implemented to design a stabilizer for trajectory tracking of the flexible robot. In order to adaptively tune the parameters of the designed controller, the gradient descent approach and the chain derivative rule are employed. Moreover, the Takagi–Sugeno–Kang fuzzy system is applied to regulate the controller gains. Finally, a multiobjective particle swarm optimization algorithm is used to find the optimum fuzzy rules. The conflicting objective functions considered as the integrals of the absolute values of the state error and the control effort should be minimized, simultaneously. The simulation results illustrate the effectiveness and capability of the introduced scenario in comparison with other methods.

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Section: Fuzzy Systemsmentioning

confidence: 99%

Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller

Mahmoodabadi

Nejadkourki

2020

Journal of Robotics

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“…Концепция построения комплектного электропривода: 1. Комплектный электропривод ВИП-1000-1100 строится на модульном оборудовании: один комплект оборудования используется для управления двумя главными [10], [11] секциями машины (полуфазы А, В, С и полуфазы D, E, F), второй-для контроля дополнительными двумя секциями машины (полуфазы А', В', С' и полуфазы D', E', F'). Поэтому предлагается два блока преобразователей, каждый из которых осуществляет контроль управления одной из четырех секций машины.…”

Section: рис 3 вид в сборе с системой охлажденияunclassified

Switched Reluctance Drive SRD-1000-1100 in the Electromotive Systems

Romanovsky¹,

Nikiforov²,

Makarov³

2019

Vestnik GUMRF imeni admirala S. O. Makarova

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Very high demands concerning reliability, operational characteristics and functioning in full are being put on the modern ship electric drives. More than twenty years of experience in the progressive implementation of switched reluctance electric drives of auxiliary mechanisms on submarines and more powerful drives on the supply ship Victor Konetsky has qualitatively developed technologies for designing and producing the switched reluctance drives, successfully competing with permanent-magnet electric motors. The results of the preliminary design of the switched reluctance drive SRD 1000-1100 with a power of 1000 kW, 1100 rpm are considered in the paper. The basic principle of the electric propulsion system representing sectioning the executive control of the propulsion motor into several independently working parts is proposed. The distinctive features and advantages of the switched reluctance drive in comparison with an asynchronous motor are considered, and the oscillogram of a single-phase failure of the switched drive is also shown. The results of the preliminary design of the 1000 kW switched inductor drive have been illustrated. Besides, the structure of the switched reluctance drive 1000-1100, which is shown as the concept of building a complete electric drive, is considered. This concept includes the following aspects: the complete electric drive is based on the modular equipment, the sections separate control is organized, all intellectual control modules are connected by a common CAN network, etc. The parameters for comparing an asynchronous propulsion motor of Schorch company and switched reluctance drive 1000-1100 are shown in the table. Therefore, for propulsion systems there is a tendency to create the electric drive systems based on the switched reluctance motors.Рассмотрены требования, предъявляемые к современным судовым электроприводам, касающиеся надежности, эксплуатационных характеристик и функционирования в полном объеме. Проанализированы данные, подтвержденные более чем двадцатилетним опытом работы по поступательному внедрению вентильных индукторных электроприводов вспомогательных механизмов на подводных лодках и более мощных приводов на корабле-снабженце «Виктор Конецкий», который качественно развил технологии проектирования и производства вентильно-индукторных двигателей, успешно конкурирующих с электродвигателями с постоянными магнитами. В работе рассматриваются результаты аванпроекта вентиль-

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“…Theorem 3. For the system (3), if the suitable NFTSM variables have been selected as (7) and (8) and the control input signal is constructed as (41)-(43) with its parameter updating rules designed as (44) and (45), then the sliding variable motion is a certainty, and the tracking error variables converge to zero.…”

Section: Design An Adaptive Neural Non-singular Fast-terminal Slidingmentioning

confidence: 99%

“…In practical systems, the parameter drift problem typically occurs under the adaptive control rule (44). Consequently, the bounded approach is implemented to set up the adaptive estimator as…”

Section: Remarkmentioning

confidence: 99%

“…One of the main tasks in the design of a control method based on SMC or TSMC is to develop an exact dynamic model of the robot manipulator, which one does not readily know in advance for real robot systems. To estimate this unknown dynamic model, several computing approaches have been proposed such as neural networks [39][40][41] and fuzzy logic systems [42][43][44] due to their universal approximation capabilities.…”

Section: Introductionmentioning

confidence: 99%

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An Adaptive Neural Non-Singular Fast-Terminal Sliding-Mode Control for Industrial Robotic Manipulators

Kang

2018

Applied Sciences

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Featured Application: The proposed control methodology could be applied to not only the joint position tracking control for industrial robotic manipulators such as serial, parallel robots, and an electrohydraulic series elastic manipulator, but also other mechanical systems that belong to the class of general nonlinear second-order system. For example, it could be applied for the stabilization or trajectory tracking of mechanical systems as a piezo positioning stage, magnetic levitation systems, or for the chaos control, synchronization, and anti-synchronization of chaotic complex systems.Abstract: In this study, a robust control strategy is suggested for industrial robotic manipulators. First, to minimize the effects of disturbances and dynamic uncertainties, while achieving faster response times and removing the singularity problem, a nonsingular fast terminal sliding function is proposed. Second, to achieve the proposed tracking trajectory and chattering phenomenon elimination, a robust control strategy is designed for the robotic manipulator based on the proposed sliding function and a continuous adaptive control law. Furthermore, the dynamical model of the robotic system is estimated by applying a radial basis function neural network. Thanks to those techniques, the proposed system can operate free of an exact robotic model. The suggested system provides high tracking accuracy, robustness, and fast response with minimal positional errors compared to other control strategies. Proof of the robustness and stability of the suggested system has been verified by the Lyapunov theory. In simulation analyses, the simulated results present the effectiveness of the suggested strategy for the joint position tracking control of a 3-degree of freedom (3-DOF) PUMA560 robot.

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Adaptive TSK fuzzy sliding mode control design for switched reluctance motor DTC drive systems with torque sensorless strategy

Cited by 20 publications

References 13 publications

Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller

Trajectory Tracking of a Flexible Robot Manipulator by a New Optimized Fuzzy Adaptive Sliding Mode-Based Feedback Linearization Controller

Switched Reluctance Drive SRD-1000-1100 in the Electromotive Systems

An Adaptive Neural Non-Singular Fast-Terminal Sliding-Mode Control for Industrial Robotic Manipulators

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