Robuste Positionsregelung von Asynchronmaschinen durch Sliding Mode Regelungsverfahren
Final Report Abstract
The unified methodology is developed in the project for multifarious problems in robotics. The core idea of all design methods is enforcing sliding modes. The high efficiency of control, estimation and simulation algorithms resuhs from order reduction and low sensitivity to model uncertainties of this type of motion. The design principles of sensorless control for different types of actuators were offered. The implementation implies use of conventional sensors of current and voltage while the other state variables (speed, components of a flux vector) are found based on linear, nonlinear and sliding mode observers. The experiments were performed of the system "motor - link of manipulator", including the system with an induction motor as a positioner. Taking into account flexibility of mechanical links and delays, which are common for high speed manipulators, leads to so-called infinite dimensional systems. The offered simulation methods for this class of systems let a designer get rid of well known problems appearing in ill-posed systems and systems govemed by difference-differential equations. The "harmonic cancellation" in multiphase converters based on the theory of multidimensional sliding modes was developed to suppress chattering - the phenomenon known as the main obstacle for application of sliding mode control.
Publications
- "Chattering suppression methods in sliding mode control systems". Annual Reviews in Control (IFAC Journal), pp. 180-189, October 2007
C. H. Lee and V. Utkin
- "An adaptive sliding mode observer for induction machines". In: 2008 American Control Conference, Seattle, Washington, USA, June 2008, pp. 1947-1951
S. Rao, M. Buss and V. Utkin
- "Simulation of constrained dynamic multibody systems using sliding mode control theory". The 10th International Workshop on Variable Structure Systems, Istanbul, Turkey, June 8-10, 2008
S. Rao, V. Utkin, and M. Buss
- "Sliding mode based stator flux and speed observer for induction machines". The 10th International Workshop on Variable Structure Systems, Istanbul, Turkey, June 8-10, 2008
S. Rao, M. Buss, and V. Utkin
- "State and parameter estimation in induction motors using sliding modes". 13th IEEE International Power Electronics and Motion Control Conference, Poznan, Poland, September 1-3, 2008
S. Rao, M. Buss and V. Utkin
- "Simultaneous state and parameter estimation in induction motors using first and second order sliding modes". IEEE Transactions on Industrial Electronics, 56(9), pp. 3369-3376, 2009
S. Rao, M. Buss and V. Utkin
