Optimizing the Parameters of Sliding Mode Controllers for Stepper Motor through Simulink Response Optimizer Application

Abstract

This paper will focus on optimizing parameters of sliding mode controllers (SMC) for hybrid stepper motor models simulated in Matlab/Simulink. The main objective is to achieve a smooth transient and robust, steady-state to track reference rotor position when the stepper motor is subjected to load disturbances. Two different structures of SMC controllers will be studied, which are based on the flat system concept that is applicable to the stepper motor model. The hassle to determine controller parameters will be optimized using the Simulink Response Optimizer application. The performance of the controllers will be evaluated by considering load torque and variation in the model parameters. Although the results showed that an open-loop controller could move the rotor to the desired position, however, the transient response had undesired oscillations before the output settled at the steady state. The response was improved by optimizing SMC controllers’ parameters to meet the desire step response requirement. Despite both SMC methods have successfully tracked the reference, there are some challenges to deal with each method in regard to the state measurements, the number of optimized controllers’ parameters, and the scattering of control inputs.

A Comparative Study of Nonlinear Control Schemes for Induction Motor Operation Improvement

“…The objective now is to converge the two errors to zero, i ds and i qs are then chosen as a virtual commands for the systems ( 7) and (8). For that reason, the next candidate Lyapunov function is chosen as:…”

“…The main features of this approach are the dynamic behavior of the system which may be tailored by a particular choice of the switching function. Furthermore, the structure is independent of the object parameters which makes the closed-loop response becomes totally insensitive to a particular class of uncertainty in the system, this provides very strong and inherent robustness to the resulting controllers [8]. These techniques are applied for the direct torque control (DTC) schemes as for vector control (FOC).…”

Robust Global Synchronization of a Hyperchaotic System with Wide Parameter Space via Integral Sliding Mode Control Technique

“…Where 𝛾 𝑖 > 0; Φ 𝑖 > 0 are positive constants to be determined. Comparing ( 6) and (7) gives 2) for all initial conditions 𝑥 𝑖 (0), (𝑖 = 1,2, … ,4) ≠ 𝑦 𝑖 (0), (𝑖 = 1,2, … ,4) , then error state dynamics will asymptotically converge on the sliding surface 𝑠(𝑡) = 0 in the sense of Lyapunov, i.e. lim 𝑡⟶∞ ‖𝑒(𝑡)‖ = 0, ∀𝑒 𝑖 .…”

“…On this surface, the controlled system is adaptively altered to a sliding mode, resulting in the system sliding towards the origin along the sliding surface for a duration known as the sliding phase [3]. SMC has been applied to a variety of systems, including super-switching control [4], unmanned vehicle [5], single input, multi-output systems (SIMO) [6], stepper motor control [7], machine infinite bus system [8], MIMO system [9][10], stepper motor drive system [11], twolink flexible manipulator [12], autonomous vehicle [13] and secure communication [14]. In practice, invariance cannot be guaranteed in the reaching phase.…”

Turning Point and Free Segments Strategies for Navigation of Wheeled Mobile Robot

“…This controller gives good tracking errors but his architecture is complex and has a slow response time. Furthermore, the sliding mode controller is adopted for tracking trajectory in [25], [26], [27] because it has good performance such fast response, good transient and stability.…”