Presentation on theme: "Student: Cheng-Yi Chiang Adviser: Ming-Shyan Wang Date : 31th-Dec-2008"— Presentation transcript:
1 Student: Cheng-Yi Chiang Adviser: Ming-Shyan Wang Date : 31th-Dec-2008 A Novel Motor Drive Design for Incremental Motion System via Sliding-Mode Control MethodIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 52, NO. 2, APRIL 2005Chiu-Keng Lai and Kuo-Kai Shyu, Member, IEEEStudent: Cheng-Yi ChiangAdviser: Ming-Shyan WangDate : 31th-Dec-2008
2 Outline Abstract INTRODUCTION FIELD-ORIENTED PMSM INCREMENTAL MOTION CONTROL OF PMSMA. Velocity Control ModeB. Position Control ModeC. Velocity Control ModeD. Position Control ModeSIMULATION RESULTSEXPERIMENTAL SETUP AND RESULTSA. Experimental System SetupB. Experimental ResultsCONCLUSIONREFERENCES
3 AbstractThis paper proposes a particular motor position control drive design via a novel sliding-mode controller.The newly designed controller is especially suitable for the motor incremental motion control which is specified by a trapezoidal velocity profile.The novel sliding-mode controller is designed in accordance with the trapezoidal velocity profile to guarantee the desired performance.A motor control system associated PC-based incremental motion controller with permanent-magnet synchronous motor is built to verify the control effect.The validity of the novel incremental motion controller withsliding-mode control method is demonstrated by simulation andexperimental results.
4 INTRODUCTIONThe control of motors used in high-performance servo drives requires the prescribed torque accuracy, velocity, and/or position for all operating conditions being achieved.To obtain the desired performance, a precise system model is needed.It is difficult to construct because of the inherent nonlinearity offriction and dead zone, the parameter variations due to temperature,the uncertain external disturbances, and so on.PI-type control methods are not robust enough to accommodate thevariations of external disturbances, parameters, and perturbationsduring operation
5 INTRODUCTIONVariable-structure control (VSC) or sliding-mode control (SMC) has been known as a very effective way to control a system because it possesses many advantages.such as insensitivity to parameter variations, external disturbancerejection, and fast dynamic responses.VSC has been widely used in the position and velocity control of dc and ac motor drives.The system dynamics of a VSC system can be divided into two phases: the reaching one and the sliding one.The robustness of a VSC system resides in its sliding phase, rather the reaching phase.
6 INTRODUCTIONThis paper proposes a multisegment sliding-mode- control-method-based motion control drive design in accordance with a trapezoidal velocity profile.It also shows that the reaching phase existing in the conventional VSC does not exist in the designed multisegment sliding-mode controller.The robustness of the controlled system can be assured from start to finish.
7 FIELD-ORIENTED PMSM , the d, q-axes stator voltages. , the d, q-axes stator currents., the d, q-axes inductance., the d, q-axes stator flux linkages., the stator resistance and inverter frequency.the equivalent d-axes magentizing current.the d-axis mutual inductance.(1)(2)(3)(4)
8 FIELD-ORIENTED PMSM the pole number of the motor. the rotor velocity. (5)the pole number of the motor.the rotor velocity.the rotor angular displacement.the moment of inertia.the damping coefficient.the external load.The inverter frequency is related to the rotor velocity as(6)(7)
9 FIELD-ORIENTED PMSMSince the magnetic flux generated from the permanent magnetic rotor is fixed in relation to the rotor shaft position.The flux position in the coordinates can be determined by theshaft position sensor.
10 FIELD-ORIENTED PMSM The PMSM used in this drive system is a threephase four-pole750-W 3.47-A3000-r/min type.Fig.1. (a) System configurationof fiele-orientedsynchronous motor.
11 FIELD-ORIENTED PMSM Fig.1. (b) Simplified control system block diagram.(8)(9)is the inverter torque command which is proportional tothe –axis current, .
12 INCREMENTAL MOTION CONTROL OF PMSM The rotor dynamics and the torque equation of PMSM givenin (6)-(8) are rewritten as follows:(10)
13 INCREMENTAL MOTION CONTROL OF PMSM The incremental motion control is to move an object at rest at time to a fixed desired position at time , and then stop it.The control process is subjected to the desired velocity and acceleration.Therefore, the incremental motion control is performed under velocitycontrol in obedience to a desired velocity profile, whereas stopping isdone by position control mode.
14 INCREMENTAL MOTION CONTROL OF PMSM One first has to select a velocity profile which rapidly changes the load position in discrete step.The velocity profile should satisfy the motion constraints of the system.The velocity and acceleration limitations are generally taken intoconsideration for the determination of velocity profile.To satisfy the velocity and acceleration limitations, a trapezoidalvelocity profile is usually used.The object here is to design a multisegment sliding mode controlleraccording to the trapezoidal velocity profile
15 INCREMENTAL MOTION CONTROL OF PMSM Fig.2. Trapezoidal velocity profile for incremental motion control.
16 INCREMENTAL MOTION CONTROL OF PMSM With a specified rotor position , which is assumed to be a constant withinthe control process, one first defines the position error and its derivative asCombining (11) with (6) and (7), one obtainsNote that (12) and (13) hold because the specified position isa constant.(11)(12)(13)
17 INCREMENTAL MOTION CONTROL OF PMSM According to the error dynamical equations (12) and (13), a multisegment SMC is proposed to drive the motor from initial positionto the specified position according to the trapezoidal velocity profile given in Fig. 2.The multisegment SMC is composed of two modes, the velocitycontrol mode and the position control mode.The velocity control mode is used to drive the rotor to the desiredposition and the position control mode is used to hold the rotor at thedesired position
18 A. Velocity Control Mode 1) Acceleration segment: is the initial position error.To check the motor acceleration onThus, the motor dynamics on the acceleration segment (14) have the desired constantacceleration(14)
19 A. Velocity Control Mode 2) Run segment3)Deceleration segment(15)(16)
20 B. Position Control Mode In the position control mode, the following position control segment is proposed:where is a positive constant.Lemma –: If a switching surface of the controlled system satisfies the following sliding condition:Where and are parameters to be designed in accordance with the corresponding sliding segment, and has been defined in (8).(17)(18)(19)
21 C.Velocity Control Mode First, the acceleration segment is considered. The parameters and in (19) will be designed to satisfy the sliding condition of the acceleration segmentwhere , and is the sign function.(20)(21)(22)(23)
22 C.Velocity Control Mode where andwhere and(23)(24)(25)(26)(27)(28)
23 D.Position Control Mode Whereand(29)(30)(31)(32)
24 Position Control ModeFig. 3. Multisegment SMC-based incremental motion control for PMSM system
25 SIMULATION RESULTS Fig. 4. Simulated results of multisegment sliding-modemotion control.(a) Velocity responses.(b) Position responses.(c) Control output.
26 SIMULATION RESULTS Fig. 5. Trajectories of four switching functions of multisegment sliding-mode controller.
27 SIMULATION RESULTS Fig. 6. Simulated results of conventional sliding-modemotion control.(a) Velocity responses.(b) Position responses.(c) Control output.
28 SIMULATION RESULTS Fig. 7. Simulated results with external load 2 N‧m. (a) Velocity responses.(b) Position responses.(c) Control output.
29 SIMULATION RESULTS Fig. 8. Simulated results with external load 2 N‧m and
30 Experimental System Setup Fig. 9. Pentium-800–based PMSM incremental motion control system.
31 Fig. 10. (a)Experimental results controlledby multisegment SMC controller.From top to bottom: velocityresponses, position responses,control output, and phase-Acurrent.
32 Fig. 10. (b)Experimental trajectoriesof four segments controlledby multisegment SMCcontroller.
33 Fig. 11.Experimental results controlledby conventional SMC controller.From top to bottom: velocityresponses, position responses,control output, and phase-Acurrent.
34 Fig. 12.Experimental results withgenerator load. From top tobottom: velocity responses,position responses, andphase-A current.
35 CONCLUSIONA particular incremental motion control using novel VSC strategy for a PMSM is presented. It has been shown that the multisegment SMC has the ability to control the motor system with a constant acceleration and deceleration rate to match the trapezoidal velocity profile of the incremental motion.Furthermore, the proposed system is robust to the external time-varying load.Both simulations and experimental results confirm the validity.
36 REFERENCES K. Ohnishi, Y. Ueda, and K. Miyachi, “Model reference adaptive systemagainst rotor resistance variation in induction motor drive,” IEEE Trans.Ind. Electron., vol. 4, no. 3, pp. 217–223, Aug F. J. Lin, R. F. Fung, and Y. C. Wang, “Sliding mode and fuzzy controlof toggle mechanism using PM synchronous servomotor drive,” Proc.IEE—Control Theory Appl., vol. 144, no. 5, pp. 393–402, 1997. T. H. Liu and M. T. Lin, “A fuzzy sliding mode controller design fora synchronous reluctance motor drive,” IEEE Trans. Aerosp Electron.Syst., vol. 32, no. 3, pp. 1065–1075, Jul G. J. Wang, C. T. Fong, and K. J. Chang, “Neural-network-based selftuningPI controller for precise motion control of PMAC motors,” IEEETrans. Ind. Electron., vol. 48, no. 2, pp. 408–415, Apr B. Grcar, P. Cafuta, M. Znidaric, and F. Gausch, “Nonlinear control ofsynchronous servo drive,” IEEE Trans. Contr. Syst. Technol., vol. 4, no.2, pp. 177–184, Mar
37 REFERENCES K.-C. Hsu, “Variable structure control design for uncertain dynamic systemswith sector nonlinearity,” Automatica, vol. 34, no. 4, pp. 505–508, Apr.1998. “Decentralized variable structure control for uncertain large-scale systemswith series nonlinearities,” Int. J. Control, vol. 68, no. 6, pp.1231–1240,1997. J. Y. Hung, W. Gao, and J. C. Hung, “Variable structure control: Asurvey, ” IEEE Trans. Ind. Electron., vol. 40, no. 1, pp. 2–22, Feb F. J. Lin, “Real-time IP position controller design with torque feedforwardcontrol for PM synchronous motor,” IEEE Trans. Ind. Electron.,vol. 44,no. 3,pp. 398–407, Jun F. J. Lin and S. L. Chiu, “Robust PM synchronous motor servo drive withvariable-structure model-output-following control,” Proc. IEE—Elect.Power Appl., vol. 144, no. 5, pp. 317–324, 1997.
38 REFERENCES ~Thanks for your listening~  M. Ghribi and H. Le-Huy, “Optimal control and variable structurecombination using a permanent-magnet synchronous motor,” in Conf.Rec. IEEE-IAS Annu. Meeting, vol. 1, 1994, pp. 408–415. K. K. Shyu and H. J. Shieh, “A new switching surface sliding-modespeed control for induction motor drive systems,” IEEE Trans. PowerElectron., vol. 11, no. 4, pp. 660–667, Jul“Variable structure current control for induction motor drives by spacevoltage vector PWM,” IEEE Trans. Ind. Electron., vol. 42, no. 6,pp. 572–578, Dec K. K. Shyu, C. K. Lai, and J. Y. Hung, “Totally invariant state feedbackcontroller for position control of synchronous reluctance motor,” IEEETrans. Ind. Electron, vol. 48, no. 3, pp. 615–624, Jun~Thanks for your listening~