Speed Control of Linear Induction Motor using Sliding Mode Controller Considering the End Effects

-The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, realtime execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.

“…The SMC techniques are known for being robust, having a direct design, and providing a solid solution for fault estimation, control and diagnosis [18][19][20].…”

Section: Sliding Mode Controlmentioning

confidence: 99%

Implementation and Comparison of Controllers for Planar Robots

Kern¹,

Urrea²,

Torres³

2017

“…2 shows the block diagram of slip speed s v estimated by Equations from (1) to (11). We can identify the elements by which we can estimate slip speed changes depending on motor torque m T .…”

Section: Slip Of Railway Vehiclementioning

confidence: 99%

“…Simulation was done by realizing driving mode where standard speed was raised from 0 to 200[rpm], from 0.5[s] to 500 [rpm], and from 1[s] to 1,000[rpm], and its characteristics was confirmed. [8][9][10][11] Fig . 9 shows the diagram of real speed following the changes of reference speed (0⇒200⇒500⇒1,000[rpm]).…”

Section: Invertermentioning

confidence: 99%

A Design of Prototype 1C2M Railway Vehicle Propulsion Control System Considering Slip Reduction of Traction Motor

Chang¹,

Kim²,

Kim³

2015

-This study proposes a re-adhesion algorithm that has stable traction effort for rolling stock slip/slide minimization when deliverable traction decreases by slip. The proposed scheme estimates appropriate reference speed using two encoders for reducing slip and controls traction effort stably and has stable control characteristics for disturbance. The algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force stably controls traction effort and gives rolling stock excellent acceleration and deceleration characteristics. And a slip sensing element that can quickly detect slip is used. Load motor and inverter were checked in various slip conditions for creating various line conditions.

“…Sliding Mode Control (SMC) systems correspond to a particular type of Variable Structure Control (VSC) systems whose characteristic is to change their structure, by means of some law, in order to satisfy desired characteristics [24,25]. The SMC consists in defining a control law that, commuting at a high frequency, succeeds in taking the state of a system to a surface called sliding surface, and once there, keeping it away from possible external perturbations [26].…”

Section: Hyperbolic Sliding Mode Controllermentioning

confidence: 99%

Trajectory Tracking Control of a Real Redundant Manipulator of the SCARA Type

Urrea¹,

Kern²

2016

-Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.