Real-Time Speed Control of BLDC Motor Based On Fractional Sliding Mode Controller
DOI:
Keywords:
BLDC motor, Continuous sliding mode control, Fractional sliding controlAbstract
The design of the system used for brushless DC (BLDC) motor control in speed and position control is difficult due to the non-linear structure. Therefore, the designed controller is required to respond to these challenges and need high-efficiency operation. This paper presents the experimental validation of a robust speed control structure of a BLDC motor based on continuous sliding mode (CSM) and fractional-order sliding mode (FOSM) controllers. The controllers have been tested for low and medium speed reference signals and amplitude values. Then, both controllers have been compared in term of tracking performance and error elimination and the results have been shown graphically. Experimental results prove that the FOSM controller shows better trajectory tracking performance than CSM controller with high precision as well as good robustness against changes of references.Downloads
References
Allan R. Hambley, Electrical Engineering: Principles and Application, Prentice Hall, New Jersey 1997.
Lee, C. K., and W. H. Pang. "A brushless DC motor speed control system using fuzzy rules," Power Electronics and Variable-Speed Drives. Fifth International Conference on. IET, pp. 101-106, 1994.
Yu, G-R and Hwang, R-C. “Optimal PID speed control of brush less DC motors using LQR approach,” In: Systems, Man and Cybernetics, 2004 IEEE International Conference on. IEEE, 2004. p. 473-478.
Navidi, N., M. Bavafa, and S. Hesami. "A new approach for designing of PID controller for a linear brushless DC motor with using ant colony search algorithm," 2009 Asia-Pacific Power and Energy Engineering Conf.e. IEEE, pp.1-5, 2009.
Chen, Jessen, and Pei-Chong Tang. "A sliding mode current control scheme for PWM brushless DC motor drives," IEEE transactions on Power Electronics14.3 pp. 541-551, 1999.
B. Moshiri, M. Jalili-Kharaajoo, F. Besharati, "Application of fuzzy sliding mode based on genetic algorithms to control of robotic manipulators", Emerging Technologies and Factory Automation, Vol. 2, pp. 169 – 172, 2003.
Wang, W., et al. "Design of a stable sliding-mode controller for a class of second-order underactuated systems." IEE Proceedings-Control Theory and Applications 151.6, pp. 683- 690, 2004.
Vadim, I. Utkin. "Survey paper variable structure systems with sliding modes,"IEEE Transactions on Automatic control 22.2, pp. 212-222, 1977.
Derdiyok, A., Guven, M. K., Inanc, N., Rehman, H. U., & Xu, L. “A DSP-based indirect field oriented induction machine control by using chattering-free sliding mode,” In National Aerospace and Electronics Conf., NAECON 2000. pp. 568- 573, 2000. Figure 10. Fractional-order sliding mode 1000 rpm trapezoidal ref.
Nguyen, D., Sliding-Mode Control: Advanced Design Techniques, Phd Thesis, University of Techology, Sydney, 1998.
Hung, J.Y., Gao, W., ve Hung, J.C. “Variable structure control: A survey”, IEEE Transactions on Industrial Elect., Vol 40, No 1, 2–22, 1993.
Eker, İ.,“Sliding Mode Control with PID Sliding Surface and Experimental Application to An Electromechanical Plant”, ISA Transactions,vol.45,pp.109-118,Number 1, January 2006.
Özdal, O.,“Model Dayanaklı Kayan Kipli Denetim”, Master Thesis, Hacettepe Üniversitesi FBE, Ankara ,2008.
Kızmaz, H., “Asılı Sarkacın Kayma Kipli Kontrolü”, Master Thesis, SAU FBE, Sakarya , June 2009.
R. Benayache, L. Chrifi-Alaoui, P. Bussy and J.M. Castelain, “Design and implementation of sliding mode controller with varying boundary layer for a coupled tanks system”. 17thMediterranean Conference on Cont. & Aut., p:1215-1220, 2009.
A. Levant, “Chattering Analysis,” IEEE Transactions on Automatic Control, Vol.55, pp. 1380-1389, 2010.
T. Floquet, S. K. Spurgeon and C. Edwards, “An Output Feedback Sliding Mode Control Strategy for MIMO Systems of Arbitrary Relative Degree,” International Journal of Robust and Nonlinear Control, Vol. 21, No. 2, 2010.
Derdiyok, A. and Başçi, A., “The application of chattering-free sliding mode controller in coupled tank liquid-level control system,” Korean Journal of Chemical Engineering, 30(3), pp.540-545, 2013.
Soysal, Birol. "Real-time control of an automated guided vehicle using a continuous mode of sliding mode control." Turkish Journal of Electrical Engineering & Computer Sciences 22.5, pp.1298-1306, 2014.
K. Jezernik, M. Rodic, R. Safaric and B. Curk, B., “Neural network sliding mode robot control,” Robotica, 15(1), pp. 23- 30, 1997.
A. Sabanovic, K. Jezernik and K. Wada,” Chattering-free sliding modes in robotic manipulators control.” Robotica, 14, 17, 1996.
A. Derdiyok and M. Levent, "Sliding mode control of a bioreactor." Korean J. Chem. Eng., 17(6), 619 ,2000.
I. Podlubny, Fractional Differential Equations, Academic Press, San Diego, California, 1999.
I. Podlubny, “Fractional-order systems and PI D controllers”, IEEE Transactions on Automatic Control, vol. 44(1), pp. 208–214, 1999
Downloads
Published
Issue
Section
License
Copyright (c) 2016 International Journal of Applied Methods in Electronics and Computers
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
