Design a Second Order Sliding Mode Controller for Electrical Servo Drive Systems | ||
Engineering and Technology Journal | ||
Article 8, Volume 37, 12A, December 2019, Pages 542-552 PDF (1007.31 K) | ||
Document Type: Research Paper | ||
DOI: 10.30684/etj.37.12A.8 | ||
Authors | ||
Shams A. Hashim1; Ahmed K. Hamoudi2 | ||
1Control & System Eng. Dept., University of Technology - Iraq | ||
2Control & System Eng., Dept., University of Technology - Iraq | ||
Abstract | ||
The aim of this paper is to design and study a powerful second-order sliding mode controller for electrical servo drive systems. The suggested controller can successfully overcome the chattering problem that was usually facing such systems during operation. The first (1-SMC) and second (2-SMC) sliding mode controllers are nonlinear controllers’ techniques capable of stabilizing the output of a plant, even though a disturbance and parameter uncertainty is present. The asymptotically stable is the significant property of 1-SMC as well as 2-SMC. Despite the robustness of the 1- SMC, in real-time but it suffers from a large settling time and a chattering (undesirable rapid oscillations) of system trajectory close to the sliding surface. The chattering must be reduced because of its negative impact on system stability. The chattering can be reduced by replacing the sign function, used in classical sliding mode, by a saturation function. In the current study, the Second Order Sliding Mode Controller (2-SMC) is used to overcome the drawbacks of 1- SMC by reducing both the chattering and the settling time of the control action. The Electrical Servo drive system was adopted in this paper for testing; both, the 1-SMC as well as the 2-SMC. The comparison of results between the two controllers indicated smaller chattering and settling time in the 2-SMC than that in the 1-SMC. The simulation results of this work were obtained by using the Matlab programming. | ||
Keywords | ||
Chattering; first order sliding mode controller; second order sliding mode controller; asymptotically stable; Electrical Servo drive | ||
References | ||
[1] C.A. Yfoulis, A. Muir, and P.E.Wellstead, “A New Approach for Estimating Controllable and Recoverable Regions for Systems with State and Control Constraints,” International Journal of Robust and Nonlinear Control, Vol. 12, No. 7, pp. 561-589, 2002. [2] S. Mondal, “Adaptive second order sliding mode control strategies for uncertain systems,” Ph. D. thesis, Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, pp. 2-155, 2012. [3] V.I. Utkin, J. Guldner, and J. Shi, "Sliding Mode Control in Electromechanical Systems,” CRC Press. Taylor & Francis Group, 2009. [4] A.K. Hamoudi, “Design and Simulation of Sliding Mode Fuzzy Controller for Nonlinear system,” Journal of Engineering, College of Engineering, University of Baghdad, Vol. 22, No. 103, pp. 66-76, 2016. [5] A.K. Hamoudi, “Sliding Mode Control for Non linear system best on Genetic Algorithm,” Journal of Engineering and technology, Vol. 32, No. 11A, pp. 2745-2759, 2014. [6] Z. Chen, W. Meng, Z. Wang and J. Zhang, “Sliding Mode Variable Structure Control Based on Particle Swarm Optimization,” Second International Symposium on Intelligent Information Technology Application, Taiyuan, China, pp. 692-696, 2008. [7] H. Lee and V.I. Utkin, “Chattering Suppression Methods in Sliding Mode Control Systems,” Annual Reviews in Control, Vol. 31, No. 2, pp. 179-188, 2007. [8] M.K. Khan, “ Design and application of second order sliding mode control algorithms,” Ph. D. thesis, Department of Engineering University of Leicester, pp. 5-172, 2003A. [9] A. Pisano, “Second Order Sliding Modes: Theory and Applications,” Ph.D. Thesis, Department of Electronics and Electrical Engineering, Cagliari university, pp. 6-123, 2000 [10] O. Jedda, J. Ghabi, A. Douik, “Second Order Sliding Mode Control for Inverted Pendulum,” International Journal, University of Monastir and University of Sousse, pp. 1-5, 2015 [11] A.K. Hamoudi, N.O. Abdul Rahman, “Design an Integral Sliding Mode Controller for a Nonlinear System,” Al-Khwarizmi Engineering Journal, Department of Control and Systems Engineering/ University of Technology, Vol. 13, No. 1, pp. 138- 147, 2017. [12] J. Huspeka, “Second order sliding mode control of the DC motor,” International journal on process control, Department of Cybernetics, Faculty of Applied Sciences, University of West Bohemia, pp. 134-139, 2009. [13] S. Ding and J. Wang, “Second-Order Sliding Mode Control for Nonlinear Uncertain Systems Bounded by Positive Functions,” journal, Electrical and Information Engineering University of Science and Technology, VOL. 62, NO. 9, pp. 5899-5908, 2015. [14] G. Bartolini, A. Ferrara, A. Levant, E. Usai, “On Second Order Sliding Mode Controllers,” journal, Department of Electrical and Electronic Engineering_ University of Cagliari, Department of Communication_ Computer and System Sciences_ University of Genova, pp. 2-22, 2007. [15] H.P. Pang and Q. Yang, “Optimal Sliding Mode Control for a Class of Uncertain Nonlinear Systems Based on Feedback Linearization,” Qingdao University of Science and Technology, Robust Control, Theory and Applications, pp. 142-162, 2011. | ||
Statistics Article View: 300 PDF Download: 198 |