Sliding mode control in electromechanical systems:
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Boca Raton [u.a.]
CRC Press
1999
|
| Schriftenreihe: | Systems and control series
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XII, 325 S. Ill., graph. Darst. |
| ISBN: | 0748401164 |
Internformat
MARC
| LEADER | 00000nam a2200000 c 4500 | ||
|---|---|---|---|
| 001 | BV022470929 | ||
| 003 | DE-604 | ||
| 005 | 20070719 | ||
| 007 | t | ||
| 008 | 070619s1999 ad|| |||| 00||| eng d | ||
| 020 | |a 0748401164 |9 0-7484-0116-4 | ||
| 035 | |a (OCoLC)60640954 | ||
| 035 | |a (DE-599)BVBBV022470929 | ||
| 040 | |a DE-604 |b ger |e rakwb | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-706 | ||
| 050 | 0 | |a TJ220.5 | |
| 100 | 1 | |a Utkin, Vadim I. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Sliding mode control in electromechanical systems |c Vadim Utkin ; Jürgen Guldner ; Jingxin Shi |
| 264 | 1 | |a Boca Raton [u.a.] |b CRC Press |c 1999 | |
| 300 | |a XII, 325 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Systems and control series | |
| 650 | 4 | |a Sliding mode control | |
| 650 | 0 | 7 | |a Sliding-Mode |0 (DE-588)4320090-4 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Elektromechanisches Bauelement |0 (DE-588)4151849-4 |2 gnd |9 rswk-swf |
| 689 | 0 | 0 | |a Elektromechanisches Bauelement |0 (DE-588)4151849-4 |D s |
| 689 | 0 | 1 | |a Sliding-Mode |0 (DE-588)4320090-4 |D s |
| 689 | 0 | |5 DE-604 | |
| 700 | 1 | |a Guldner, Jürgen |e Verfasser |4 aut | |
| 700 | 1 | |a Shi, Jingxing |e Verfasser |4 aut | |
| 856 | 4 | 2 | |m HBZ Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015678419&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-015678419 | ||
Datensatz im Suchindex
| _version_ | 1804136558166540288 |
|---|---|
| adam_text | Contents
i
Series Introduction jx
Preface xi
1 Introduction 1
1.1 Examples of dynamic systems with sliding modes 1
1.2 Sliding modes in relay and variable structure systems 4
1.3 Multidimensional sliding modes 9
1.4 Outline of sliding mode control methodology 11
References 13
. 2 Mathematical Background 15
2.1 Problem statement 15
2.2 Regularization 18
2.3 Equivalent control method 24
2.4 Physical meaning of equivalent control 27
2.5 Existence conditions 28
References 34
3 Design Concepts 35
3.1 Introductory example 35
3.2 Decoupling 36
3.3 Regular form 39
3.4 Invariance 41
3.5 Unit control 43
References 46
4 Pendulum Systems 47
4.1 Design methodology 47
4.2 Cart opendulum 51
4.3 Double inverted pendulum 55
v
Vi CONTENTS
4.4 Rotational inverted pendulum system 62
4.4.1 Control of inverted pendulum 63
4.4.2 Control of the base angle and the inverted pendulum 66
4.5 Simulation and experimental results for rotational inverted
pendulum 68
4.5.1 Stabilization of the inverted pendulum 70
4.5.2 Stabilization of the inverted pendulum and the base 73
References 76
5 Control of Linear Systems 79
5.1 Eigenvalue placement 79
5.2 Invariant systems 82
5.3 Sliding mode dynamic compensators 83
5.4 Ackermann s formula 87
5.5 Output feedback sliding mode control 94
5.6 Control of time varying systems 99
References 102
6 Sliding Mode Observers 103
6.1 Linear asymptotic observers 103
6.2 Observers for linear time invariant systems 105
6.3 Observers for linear time varying systems 106
6.3.1 Block observable form 106
6.3.2 Observer design 109
6.3.3 Simulation results 110
References 113
7 Integral Sliding Mode 115
7.1 Motivation 115
7.2 Problem statement 116
7.3 Design principles 117
7.4 Perturbation and uncertainty estimation 118
7.5 Application examples 120
7.5.1 Linear time invariant systems 120
7.5.2 Control of robot manipulators 122
7.5.3 Pulse width modulation for electric drives 124
7.5.4 Robust current control for PMSMs 125
7.6 Summary 129
References 129
8 The Chattering Problem 131
8.1 Problem analysis 131
8.1.1 Example system: model 132
8.1.2 Example system: ideal sliding mode 132
8.1.3 Example system: causes of chattering 134
8.2 Boundary layer solution 139
8.3 Observer based solution 141
8.4 Regular form solution 144
8.5 Disturbance rejection solution 147
CONTENTS Vii
8.6 Comparing the different solutions 151
References 153
9 Discrete Time and Delay Systems 155
9.1 Discrete time systems 155
9.2 Discrete time sliding mode concept 157
9.3 Linear discrete time systems with known parameters 161
9.4 Linear discrete time systems with unknown parameters 163
9.5 Distributed systems and systems with delays 164
9.6 Linear systems with delays 165
9.7 Distributed systems 166
9.8 Summary 168
References 169
10 Electric Drives 171
10.1 DC motors 172
10.1.1 Introduction 172
10.1.2 Model of the DC motor 172
10.1.3 Current control 173
10.1.4 Speed control 174
10.1.5 Integrated structure for speed control 175
10.1.6 Observer design 176
10.1.7 Speed control with reduced order model 179
10.1.8 Observer design for sensorless control 182
10.1.9 Discussion 185
10.2 Permanent magnet synchronous motors 187
10.2.1 Introduction 187
10.2.2 Model of the PMSH motor 188
10.2.3 Current control 193
10.2.4 Speed control 201
10.2.5 Current observer 205
10.2.6 Observer design for sensorless speed control 206
10.2.7 Discussion 211
10.3 Induction motors 212
10.3.1 Introduction 212
10.3.2 Model of the induction motor 213
10.3.3 Rotor flux observer with known rotor speed 218
10.3.4 Speed control 219
10.3.5 Observer for rotor flux and rotor speed 223
10.3.6 Discussion 228
10.4 Summary 228
References 229
11 Power Converters 231
11.1 DC/DC convertera 231
11.1.1 Bilinear systems 232
11.1.2 Direct sliding mode control 233
11.1.3 Observer b^sed control 240
11.2 Boost type AC/DC converters 251
Viii CONTENTS
11.2.1 Model of the boost type AC/DC converter 252
11.2.2 Control problems 254
11.2.3 Observer for sensorless control 262
11.3 Summary 268
References 269
12 Advanced Robotics 271
12.1 Dynamic modelling 271
12.1.1 Generic inertial dynamics 272
12.1.2 Holonomic robot model 273
12.1.3 Nonholonomic robots: model of a wheel set 277
12.2 Trajectory tracking control 278
12.2.1 Componentwise control 279
12.2.2 Vector control 283
12.2.3 Continuous feedback/feedforward plus a discontinuity term 286
12.2.4 Comparing the design choices 290
12.3 Gradient tracking control 292
12.3.1 Control objectives 296
12.3.2 Holonomic robots 298
12.3.3 Nonholonomic robots 299
12.4 Application examples 302
12.4.1 Torque control for flexible robot 302
12.4.2 Collision avoidance in a known planar workspace 306
12.4.3 Collision avoidance in known workspaces of higher
dimension 310
12.4.4 Automatic steering control for passenger cars 312
References 318
Index 319
|
| adam_txt |
Contents
i
Series Introduction jx
Preface xi
1 Introduction 1
1.1 Examples of dynamic systems with sliding modes 1
1.2 Sliding modes in relay and variable structure systems 4
1.3 Multidimensional sliding modes 9
1.4 Outline of sliding mode control methodology 11
References 13
. 2 Mathematical Background 15
2.1 Problem statement 15
2.2 Regularization 18
2.3 Equivalent control method 24
2.4 Physical meaning of equivalent control 27
2.5 Existence conditions 28
References 34
3 Design Concepts 35
3.1 Introductory example 35
3.2 Decoupling 36
3.3 Regular form 39
3.4 Invariance 41
3.5 Unit control 43
References 46
4 Pendulum Systems 47
4.1 Design methodology 47
4.2 Cart opendulum 51
4.3 Double inverted pendulum 55
v
Vi CONTENTS
4.4 Rotational inverted pendulum system 62
4.4.1 Control of inverted pendulum 63
4.4.2 Control of the base angle and the inverted pendulum 66
4.5 Simulation and experimental results for rotational inverted
pendulum 68
4.5.1 Stabilization of the inverted pendulum 70
4.5.2 Stabilization of the inverted pendulum and the base 73
References 76
5 Control of Linear Systems 79
5.1 Eigenvalue placement 79
5.2 Invariant systems 82
5.3 Sliding mode dynamic compensators 83
5.4 Ackermann's formula 87
5.5 Output feedback sliding mode control 94
5.6 Control of time varying systems 99
References 102
6 Sliding Mode Observers 103
6.1 Linear asymptotic observers 103
6.2 Observers for linear time invariant systems 105
6.3 Observers for linear time varying systems 106
6.3.1 Block observable form 106
6.3.2 Observer design 109
6.3.3 Simulation results 110
References 113
7 Integral Sliding Mode 115
7.1 Motivation 115
7.2 Problem statement 116
7.3 Design principles 117
7.4 Perturbation and uncertainty estimation 118
7.5 Application examples 120
7.5.1 Linear time invariant systems 120
7.5.2 Control of robot manipulators 122
7.5.3 Pulse width modulation for electric drives 124
7.5.4 Robust current control for PMSMs 125
7.6 Summary 129
References 129
8 The Chattering Problem 131
8.1 Problem analysis 131
8.1.1 Example system: model 132
8.1.2 Example system: ideal sliding mode 132
8.1.3 Example system: causes of chattering 134
8.2 Boundary layer solution 139
8.3 Observer based solution 141
8.4 Regular form solution 144
8.5 Disturbance rejection solution 147
CONTENTS Vii
8.6 Comparing the different solutions 151
References 153
9 Discrete Time and Delay Systems 155
9.1 Discrete time systems 155
9.2 Discrete time sliding mode concept 157
9.3 Linear discrete time systems with known parameters 161
9.4 Linear discrete time systems with unknown parameters 163
9.5 Distributed systems and systems with delays 164
9.6 Linear systems with delays 165
9.7 Distributed systems 166
9.8 Summary 168
References 169
10 Electric Drives 171
10.1 DC motors 172
10.1.1 Introduction 172
10.1.2 Model of the DC motor 172
10.1.3 Current control 173
10.1.4 Speed control 174
10.1.5 Integrated structure for speed control 175
10.1.6 Observer design 176
10.1.7 Speed control with reduced order model 179
10.1.8 Observer design for sensorless control 182
10.1.9 Discussion 185
10.2 Permanent magnet synchronous motors 187
10.2.1 Introduction 187
10.2.2 Model of the PMSH motor 188
10.2.3 Current control 193
10.2.4 Speed control 201
10.2.5 Current observer 205
10.2.6 Observer design for sensorless speed control 206
10.2.7 Discussion 211
10.3 Induction motors 212
10.3.1 Introduction 212
10.3.2 Model of the induction motor 213
10.3.3 Rotor flux observer with known rotor speed 218
10.3.4 Speed control 219
10.3.5 Observer for rotor flux and rotor speed 223
10.3.6 Discussion 228
10.4 Summary 228
References 229
11 Power Converters 231
11.1 DC/DC convertera 231
11.1.1 Bilinear systems 232
11.1.2 Direct sliding mode control 233
11.1.3 Observer b^sed control 240
11.2 Boost type AC/DC converters 251
Viii CONTENTS
11.2.1 Model of the boost type AC/DC converter 252
11.2.2 Control problems 254
11.2.3 Observer for sensorless control 262
11.3 Summary 268
References 269
12 Advanced Robotics 271
12.1 Dynamic modelling 271
12.1.1 Generic inertial dynamics 272
12.1.2 Holonomic robot model 273
12.1.3 Nonholonomic robots: model of a wheel set 277
12.2 Trajectory tracking control 278
12.2.1 Componentwise control 279
12.2.2 Vector control 283
12.2.3 Continuous feedback/feedforward plus a discontinuity term 286
12.2.4 Comparing the design choices 290
12.3 Gradient tracking control 292
12.3.1 Control objectives 296
12.3.2 Holonomic robots 298
12.3.3 Nonholonomic robots 299
12.4 Application examples 302
12.4.1 Torque control for flexible robot 302
12.4.2 Collision avoidance in a known planar workspace 306
12.4.3 Collision avoidance in known workspaces of higher
dimension 310
12.4.4 Automatic steering control for passenger cars 312
References 318
Index 319 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Utkin, Vadim I. Guldner, Jürgen Shi, Jingxing |
| author_facet | Utkin, Vadim I. Guldner, Jürgen Shi, Jingxing |
| author_role | aut aut aut |
| author_sort | Utkin, Vadim I. |
| author_variant | v i u vi viu j g jg j s js |
| building | Verbundindex |
| bvnumber | BV022470929 |
| callnumber-first | T - Technology |
| callnumber-label | TJ220 |
| callnumber-raw | TJ220.5 |
| callnumber-search | TJ220.5 |
| callnumber-sort | TJ 3220.5 |
| callnumber-subject | TJ - Mechanical Engineering and Machinery |
| ctrlnum | (OCoLC)60640954 (DE-599)BVBBV022470929 |
| format | Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01490nam a2200385 c 4500</leader><controlfield tag="001">BV022470929</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20070719 </controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">070619s1999 ad|| |||| 00||| eng d</controlfield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">0748401164</subfield><subfield code="9">0-7484-0116-4</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)60640954</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV022470929</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-706</subfield></datafield><datafield tag="050" ind1=" " ind2="0"><subfield code="a">TJ220.5</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Utkin, Vadim I.</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Sliding mode control in electromechanical systems</subfield><subfield code="c">Vadim Utkin ; Jürgen Guldner ; Jingxin Shi</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Boca Raton [u.a.]</subfield><subfield code="b">CRC Press</subfield><subfield code="c">1999</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">XII, 325 S.</subfield><subfield code="b">Ill., graph. Darst.</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="0" ind2=" "><subfield code="a">Systems and control series</subfield></datafield><datafield tag="650" ind1=" " ind2="4"><subfield code="a">Sliding mode control</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Sliding-Mode</subfield><subfield code="0">(DE-588)4320090-4</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Elektromechanisches Bauelement</subfield><subfield code="0">(DE-588)4151849-4</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Elektromechanisches Bauelement</subfield><subfield code="0">(DE-588)4151849-4</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Sliding-Mode</subfield><subfield code="0">(DE-588)4320090-4</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Guldner, Jürgen</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="700" ind1="1" ind2=" "><subfield code="a">Shi, Jingxing</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">HBZ Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015678419&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="999" ind1=" " ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-015678419</subfield></datafield></record></collection> |
| id | DE-604.BV022470929 |
| illustrated | Illustrated |
| index_date | 2024-07-02T17:44:36Z |
| indexdate | 2024-07-09T20:58:18Z |
| institution | BVB |
| isbn | 0748401164 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-015678419 |
| oclc_num | 60640954 |
| open_access_boolean | |
| owner | DE-706 |
| owner_facet | DE-706 |
| physical | XII, 325 S. Ill., graph. Darst. |
| publishDate | 1999 |
| publishDateSearch | 1999 |
| publishDateSort | 1999 |
| publisher | CRC Press |
| record_format | marc |
| series2 | Systems and control series |
| spelling | Utkin, Vadim I. Verfasser aut Sliding mode control in electromechanical systems Vadim Utkin ; Jürgen Guldner ; Jingxin Shi Boca Raton [u.a.] CRC Press 1999 XII, 325 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Systems and control series Sliding mode control Sliding-Mode (DE-588)4320090-4 gnd rswk-swf Elektromechanisches Bauelement (DE-588)4151849-4 gnd rswk-swf Elektromechanisches Bauelement (DE-588)4151849-4 s Sliding-Mode (DE-588)4320090-4 s DE-604 Guldner, Jürgen Verfasser aut Shi, Jingxing Verfasser aut HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015678419&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Utkin, Vadim I. Guldner, Jürgen Shi, Jingxing Sliding mode control in electromechanical systems Sliding mode control Sliding-Mode (DE-588)4320090-4 gnd Elektromechanisches Bauelement (DE-588)4151849-4 gnd |
| subject_GND | (DE-588)4320090-4 (DE-588)4151849-4 |
| title | Sliding mode control in electromechanical systems |
| title_auth | Sliding mode control in electromechanical systems |
| title_exact_search | Sliding mode control in electromechanical systems |
| title_exact_search_txtP | Sliding mode control in electromechanical systems |
| title_full | Sliding mode control in electromechanical systems Vadim Utkin ; Jürgen Guldner ; Jingxin Shi |
| title_fullStr | Sliding mode control in electromechanical systems Vadim Utkin ; Jürgen Guldner ; Jingxin Shi |
| title_full_unstemmed | Sliding mode control in electromechanical systems Vadim Utkin ; Jürgen Guldner ; Jingxin Shi |
| title_short | Sliding mode control in electromechanical systems |
| title_sort | sliding mode control in electromechanical systems |
| topic | Sliding mode control Sliding-Mode (DE-588)4320090-4 gnd Elektromechanisches Bauelement (DE-588)4151849-4 gnd |
| topic_facet | Sliding mode control Sliding-Mode Elektromechanisches Bauelement |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=015678419&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT utkinvadimi slidingmodecontrolinelectromechanicalsystems AT guldnerjurgen slidingmodecontrolinelectromechanicalsystems AT shijingxing slidingmodecontrolinelectromechanicalsystems |