Sliding mode control in electro-mechanical systems:
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| Main Authors: | , , |
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| Format: | Book |
| Language: | English |
| Published: |
Boca Raton [u.a.]
CRC Press, Taylor & Francis
2009
|
| Edition: | 2nd ed. |
| Subjects: | |
| Online Access: | Klappentext Inhaltsverzeichnis |
| Physical Description: | XVI, 485 S. graph. Darst. |
| ISBN: | 9781420065602 1420065602 |
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MARC
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| 100 | 1 | |a Utkin, Vadim I. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Sliding mode control in electro-mechanical systems |c Vadim Utkin ; Jürgen Guldner ; Jingxin Shi |
| 250 | |a 2nd ed. | ||
| 264 | 1 | |a Boca Raton [u.a.] |b CRC Press, Taylor & Francis |c 2009 | |
| 300 | |a XVI, 485 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 650 | 4 | |a Control theory | |
| 650 | 4 | |a Electromechanical devices |x Automatic control | |
| 650 | 4 | |a Sliding mode control | |
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| 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, Jingxin |e Verfasser |4 aut | |
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| _version_ | 1804138876853288960 |
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| adam_text | Electrical Engineering
Interest in Sliding Mode Control (SMC) has grown rapidly since the first edition of this
book was published. This second edition includes new results that have occurred in SMC
throughout the past decade relating to both control design methodology and applications.
In that time, SMC has continued to gain increasing importance as a universal design tool
for the robust control of linear and nonlinear electro-mechanical systems. Its strengths result
from its simple, flexible, and highly cost-effective approach to design and implementa¬
tion. Most importantly, SMC promotes inherent order reduction and allows for the direct
incorporation of robustness against system uncertainties and disturbances. These quali¬
ties lead to dramatic improvements in stability and help enable the design of high-
performance control systems at low cost. SMC is particularly useful for the design of
electromechanical systems because of its discontinuous structure. In fact, where the hard¬
ware of many electromechanical systems (such as electric motors) prescribes discontin¬
uous inputs, SMC becomes the natural choice for direct implementation.
Reflecting developments in the field over the past decade, this new edition of Sliding Mode
Control in Electro-Mechanical Systems builds on the solid fundamentals presented in
the first edition to promote a deeper understanding of the conventional SMC methodology.
It examines new design principles in order to broaden the application potential of SMC.
Written by three of the most respected experts in the field, including one of its origina¬
tors, this updated edition
•
Details new theoretical developments, including the suppression of the high-
frequency oscillations that were considered the main obstacle to SMC imple¬
mentation
•
Complements new developments with cutting-edge design principles
•
Explores a wider range of applications, including cascade control of induction
motors, control of multiphase power converters, new automotive applications
•
Adds new methods of power converter control, as well as a new chapter on high-
order SMC for implementations with continuous control actions
•
Offers a simple and compact description of mathematical design principle
This book provides a unique combination of theory, implementation issues, and examples
of real-life applications reflective of the authors own industry-leading work in the devel¬
opment of robotics, hybrid automobiles, and other technological breakthroughs.
Contents
Preface
...................................................................................................................xiii
Authors
...................................................................................................................xv
Chapter
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
..............................................................10
1.4.
Outline of Sliding Mode Control Methodology
.....................................13
References
...............................................................................................................15
Chapter
2
Mathematical Background
...........................................................17
2.1.
Problem Statement
.......................................................................................17
2.2.
Regularization
..............................................................................................20
2.3.
Equivalent Control Method
........................................................................28
2.4.
Physical Meaning of Equivalent Control
.................................................31
2.5.
Existence Conditions
...................................................................................33
References
...............................................................................................................40
Chapter
3
Design Concepts
............................................................................41
3.1.
Introductory Example
.................................................................................41
3.2.
Decoupling
....................................................................................................42
3.3.
Regular Form
................................................................................................46
3.4.
Invariance
.....................................................................................................49
3.5.
Unit Control
.................................................................................................51
3.6.
Second-Order Sliding Mode Control
........................................................54
3.6.1.
Preliminary Remarks
......................................................................54
3.6.2.
Twisting Algorithm
........................................................................56
3.6.3.
Super-Twisting Algorithm
.............................................................60
References
...............................................................................................................62
Chapter
4
Sliding Mode Control of Pendulum Systems
..........................63
4.1.
Design Methodology
...................................................................................63
4.1.1.
Casezi
..............................................................................................64
4.1.2.
Case
4.2..............................................................................................65
4.1.3.
Case
4.3..............................................................................................65
4.1.4.
Case
4.4..............................................................................................66
4.2.
Cart Pendulum
.............................................................................................67
4.3.
Rotational Inverted Pendulum Model
......................................................72
4.4.
Rotational Inverted Pendulum
...................................................................74
vii
viii Contents
4.4.1.
Control
of the Inverted Pendulum
................................................74
4.4.2.
Control of the Base Angle and Inverted Pendulum
....................77
4.5.
Simulation and Experiment Results for Rotational Inverted
Pendulum
......................................................................................................79
4.5.1.
Stabilization of the Inverted Pendulum
........................................82
4.5.2.
Stabilization of the Inverted Pendulum and
the Base
..............................................................................................84
References
...............................................................................................................91
Chapter
5
Control of Linear Systems
............................................................93
5.1.
Eigenvalue Placement
..................................................................................93
5.2.
Invariant Systems
.........................................................................................96
5.3.
Sliding Mode Dynamic Compensators
....................................................97
5.4.
Ackermann s Formula
...............................................................................103
5.4.1.
Simulation Results
.........................................................................107
5.5.
Output Feedback Sliding Mode Control
................................................
Ill
5.6.
Control of Time-Varying Systems
...........................................................117
References
.............................................................................................................121
Chapter
6
Sliding Mode Observers
............................................................123
6.1.
Linear Asymptotic Observers
..................................................................123
6.2.
Observers for Linear Time-Invariant Systems
.......................................125
6.3.
Observers for Linear Time-Varying Systems
.........................................126
6.3.1.
Block-Observable Form
.................................................................126
6.3.2.
Observer Design
............................................................................129
6.3.3.
Simulation Results
.........................................................................131
6.3.4.
Case
6.1:
The System with Zero Disturbances
...........................133
6.3.5.
Case
6.2:
The System with Disturbances
....................................134
6.4.
Observer for Linear Systems with Binary Output
................................135
6.4.1.
Observer Design
............................................................................135
References
............................................................................................................138
Chapter
7
Integral Sliding Mode
.................................................................139
7.1.
Motivation
...................................................................................................139
7.2.
Problem Statement
.....................................................................................140
7.3.
Design Principles
.......................................................................................141
7.4.
Perturbation and Uncertainty Estimation
..............................................143
7.5.
Examples
.....................................................................................................145
7.5.1.
Linear Time-Invariant Systems
....................................................146
7.5.2.
Control of Robot Manipulators
....................................................147
7.5.3.
Pulse-Width Modulation for Electric Drives
.............................150
7.5.4.
Robust Current Control for Permanent-Magnet
Synchronous Motors
.....................................................................151
7.6.
Summary
.......................................................................................................157
References
.............................................................................................................158
Contents ix
Chapter
8
The Chattering Problem
.............................................................159
8.1.
Problem Analysis
.......................................................................................159
8.1.1.
Example System: Model
................................................................160
8.1.2.
Example System: Ideal Sliding Mode
..........................................161
8.1.3.
Example System: Causes of Chattering
......................................164
8.1.4.
Describing Function Method for Chattering Analysis
............168
8.2.
Boundary Layer Solution
..........................................................................172
8.3.
Observer-Based Solution
..........................................................................175
8.4.
Regular Form Solution
..............................................................................179
8.5.
Disturbance Rejection Solution
................................................................183
8.6.
State-Dependent Gain Method
................................................................187
8.7.
Equivalent Control-Dependent Gain Method
.......................................189
8.8.
Multiphase Chattering Suppression
.......................................................193
8.8.1.
Problem Statement
.........................................................................193
8.8.2.
Design Principle
.............................................................................196
8.9.
Comparing the Different Solutions
........................................................201
References
.............................................................................................................203
Chapter
9
Discrete-Time and Delay Systems
...........................................205
9.1.
Introduction to Discrete-Time Systems
..................................................205
9.2.
Discrete-Time Sliding Mode Concept
.....................................................208
9.3.
Linear Discrete-Time Systems with Known Parameters
.....................212
9.4.
Linear Discrete-Time Systems with Unknown Parameters
.................214
9.5.
Introduction to Systems with Delays and Distributed Systems
.........216
9.6.
Linear Systems with Delays
.....................................................................217
9.7.
Distributed Systems
...................................................................................218
9.8.
Summary
....................................................................................................221
References
.............................................................................................................222
Chapter
10
Electric Drives
.............................................................................223
10.1.
DC Motors
...................................................................................................224
10.1.1.
Introduction
....................................................................................224
10.1.2.
Model of the DC Motor
................................................................224
10.1.3.
Current Control
..............................................................................225
10.1.4.
Speed Control
.................................................................................226
10.1.5.
Integrated Structure for Speed Control
......................................227
10.1.6.
Observer Design
............................................................................228
10.1.7.
Speed Control with Reduced-Order Model
...............................232
10.1.8.
Observer Design for Sensorless Control
.....................................236
10.1.8.1.
Estimation of the Shaft Speed
.......................................236
10.1.8.2.
Estimation of Load Torque
............................................238
10.1.9.
Discussion
.......................................................................................239
10.2.
Permanent-Magnet Synchronous Motors
..............................................240
10.2.1.
Introduction
....................................................................................240
10.2.2.
Modeling of Permanent-Magnet Synchronous Motors
............243
Contents
10.2.3.
Sliding Mode Current
Control
.....................................................249
10.2.3.1.
First Method for Current Control
.................................249
10.2.3.2.
Second Method for Current Control
............................253
10.2.4.
Speed Control
.................................................................................258
10.2.5.
Current Observer
...........................................................................261
10.2.6.
Observer for Speed Sensorless Control
......................................264
10.2.6.1.
Current Observer for EMF Components
.....................265
10.2.6.2.
Observer for EMF Components
....................................266
10.2.7.
Discussion
.......................................................................................269
10.3.
Induction Motors
......................................................................................271
10.3.1.
Introduction
....................................................................................271
10.3.2.
Model of the Induction Motor
......................................................272
10.3.3.
Rotor Flux Observer with Known Rotor Speed
........................278
10.3.3.1.
Online Simulation of Rotor Flux Model
.....................278
10.3.3.2.
Sliding Mode Observer with Adjustable Rate of
Convergence
...................................................................279
10.3.4.
Simultaneous Observation of Rotor Flux and
Rotor Speed
.....................................................................................283
10.3.4.1.
Analysis of Current Tracking
........................................284
10.3.4.2.
Composite Observer-Controller Analysis
...................287
10.3.4.3.
Simulation Results
..........................................................290
10.3.4.4.
Experimental Results
......................................................290
10.3.5.
Speed, Rotor Time Constant Observer, and Experimental
Results
............................................................................................299
10.3.6
Direct Torque and Flux Control
..................................................306
10.3.6.1.
Supplement: Cascaded Torque and Flux Control
Via Phase Currents
.........................................................316
10.4.
Summary
.....................................................................................................318
References
.............................................................................................................319
Chapter
11
Power Converters
.......................................................................321
11.1.
DC/DC Converters
....................................................................................321
11.1.1.
Bilinear Systems
............................................................................322
11.1.2.
Direct Sliding Mode Control
........................................................324
11.1.2.1.
Buck-Type DC/DC Converter
........................................325
11.1.2.2.
Boost-Type DC/DC Converter
......................................327
11.1.3.
Observer-Based Control
................................................................330
11.1.3.1.
Observer-Based Control of Buck Converters
..............333
11.1.3.2.
Observer-Based Control of Boost Converters
.............337
11.1.4.
Multiphase Converters
.................................................................343
11.2.
Boost-Type AC/DC Converters
................................................................352
11.2.1.
Model of the Boost-Type AC/DC Converter
.............................356
11.2.1.1.
Model in Phase Coordinate Frame
...............................358
11.2.1.2.
Model in (d, q) Coordinate Frame
...............................359
Contents xi
11.2.2.
Control
Problems...........................................................................362
11.2.2.1.
Sliding Mode Current Control
......................................363
11.2.2.2.
Output Voltage Regulation
............................................367
11.2.2.3.
Simulation Results
..........................................................369
11.2.3.
Observer for Sensorless Control
..................................................369
11.2.3.1.
Current Observer for Source Phase Voltage
...............373
11.2.3.2.
Observer for Source Voltage
..........................................374
11.2.3.3.
Known Supply Frequency
............................................374
11.2.3.4.
Unknown Supply Frequency
........................................375
11.2.3.5.
Simulation Results
..........................................................376
11.3.
DC/AC Converter
......................................................................................376
11.3.1.
Dynamic Model
..............................................................................377
11.3.2.
Control Design: Sliding Mode PWM
..........................................378
11.3.2.1.
Lyapunov Approach
.......................................................382
11.3.2.2.
Decoupling Approach
....................................................383
11.3.2.3.
Possible Applications of vn Control
..............................385
11.3.2.4.
Simulation Results
..........................................................386
11.3.2.5.
Experimental Results
......................................................387
11.4.
Summary
.....................................................................................................390
References
.............................................................................................................396
Chapter
12
Advanced Robotics
....................................................................397
12.1.
Dynamic Modeling
....................................................................................397
12.1.1.
Generic
Inerţial
Dynamics
...........................................................398
12.1.2.
Holonomic Robot Model
...............................................................399
12.1.2.1.
Mass Matrix
.....................................................................400
12.1.2.2.
Skew Symmetry
..............................................................400
12.1.2.3.
Boundedness of Dynamic Terms
..................................401
12.1.3.
Nonholonomic Robots: Model of Wheel-Set
..............................404
12.2.
Trajectory Tracking Control
.....................................................................405
12.2.1.
Componentwise Control
..............................................................407
12.2.2.
Vector Control
................................................................................412
12.2.3.
Continuous Feedback/Feedforward Control with
Additional Discontinuity Term for Sliding Mode
.....................416
12.2.4.
Discussion of Sliding Mode Control Design Choices
...............421
12.3.
Gradient Tracking Control
........................................................................423
12.3.1.
Control Objectives
.........................................................................426
12.3.2.
Gradient Tracking Control Design for Holonomic Robots
......429
12.3.3.
Gradient Tracking Control Design for Nonholonomic
Robots
..............................................................................................430
12.4.
Application Examples
...............................................................................434
12.4.1.
Torque Control for Flexible Robot Joints
....................................434
12.4.2.
Collision Avoidance for Mobile Robots in a Known
Planar Workspace
..........................................................................438
xii
Contents
12.4.3.
Collision Avoidance in Higher-Dimensional Known
Workspaces
.....................................................................................443
12.4.4.
Automatic Steering Control for Passenger Cars
........................447
References
.............................................................................................................452
Chapter
13
Automotive Applications
.........................................................455
13.1.
Air/Fuel Ratio Control
..............................................................................455
13.2.
Camless Combustion Engine
...................................................................460
13.3.
Observer for Automotive Alternator
.......................................................468
References
............................................................................................................474
Index
....................................................................................................................477
|
| any_adam_object | 1 |
| author | Utkin, Vadim I. Guldner, Jürgen Shi, Jingxin |
| author_facet | Utkin, Vadim I. Guldner, Jürgen Shi, Jingxin |
| 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 | BV035433649 |
| 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 |
| classification_rvk | ZN 3620 ZQ 5662 |
| ctrlnum | (OCoLC)317253118 (DE-599)BVBBV035433649 |
| dewey-full | 629.8312 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8312 |
| dewey-search | 629.8312 |
| dewey-sort | 3629.8312 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 2nd ed. |
| format | Book |
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| id | DE-604.BV035433649 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T21:35:10Z |
| institution | BVB |
| isbn | 9781420065602 1420065602 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-017354010 |
| oclc_num | 317253118 |
| open_access_boolean | |
| owner | DE-706 DE-703 DE-M347 DE-29T DE-83 |
| owner_facet | DE-706 DE-703 DE-M347 DE-29T DE-83 |
| physical | XVI, 485 S. graph. Darst. |
| publishDate | 2009 |
| publishDateSearch | 2009 |
| publishDateSort | 2009 |
| publisher | CRC Press, Taylor & Francis |
| record_format | marc |
| spelling | Utkin, Vadim I. Verfasser aut Sliding mode control in electro-mechanical systems Vadim Utkin ; Jürgen Guldner ; Jingxin Shi 2nd ed. Boca Raton [u.a.] CRC Press, Taylor & Francis 2009 XVI, 485 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Control theory Electromechanical devices Automatic control 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, Jingxin Verfasser aut Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017354010&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Klappentext Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017354010&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Utkin, Vadim I. Guldner, Jürgen Shi, Jingxin Sliding mode control in electro-mechanical systems Control theory Electromechanical devices Automatic control 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 electro-mechanical systems |
| title_auth | Sliding mode control in electro-mechanical systems |
| title_exact_search | Sliding mode control in electro-mechanical systems |
| title_full | Sliding mode control in electro-mechanical systems Vadim Utkin ; Jürgen Guldner ; Jingxin Shi |
| title_fullStr | Sliding mode control in electro-mechanical systems Vadim Utkin ; Jürgen Guldner ; Jingxin Shi |
| title_full_unstemmed | Sliding mode control in electro-mechanical systems Vadim Utkin ; Jürgen Guldner ; Jingxin Shi |
| title_short | Sliding mode control in electro-mechanical systems |
| title_sort | sliding mode control in electro mechanical systems |
| topic | Control theory Electromechanical devices Automatic control Sliding mode control Sliding-Mode (DE-588)4320090-4 gnd Elektromechanisches Bauelement (DE-588)4151849-4 gnd |
| topic_facet | Control theory Electromechanical devices Automatic control 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=017354010&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017354010&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT utkinvadimi slidingmodecontrolinelectromechanicalsystems AT guldnerjurgen slidingmodecontrolinelectromechanicalsystems AT shijingxin slidingmodecontrolinelectromechanicalsystems |