The sliding mode control approach is recognized as one of the
efficient tools to design robust controllers for complex high-order non-linear dynamic plant operating under uncertainty conditions.
this is the basic slide for sliding mode controller and how it works. for, any control engineer this this the most important technique to control the non linearity of a system and bring it back to a aymptotically stable system.
this is the basic slide for sliding mode controller and how it works. for, any control engineer this this the most important technique to control the non linearity of a system and bring it back to a aymptotically stable system.
state space representation,State Space Model Controllability and Observabilit...Waqas Afzal
State Variables of a Dynamical System
State Variable Equation
Why State space approach
Block Diagram Representation Of State Space Model
Controllability and Observability
Derive Transfer Function from State Space Equation
Time Response and State Transition Matrix
Eigen Value
State space analysis, eign values and eign vectorsShilpa Shukla
State space analysis concept, state space model to transfer function model in first and second companion forms jordan canonical forms, Concept of eign values eign vector and its physical meaning,characteristic equation derivation is presented from the control system subject area.
It gives how states are representing in various canonical forms and how it it is different from transfer function approach. and finally test the system controllability and observability by kalman's test
Speed Control Techniques for Induction Motor - A Reviewijsrd.com
In this paper, various types of speed control methods for the single phase induction motor are described. Speed can be controlled to control the frequency or slip can be controlled to control the torque. Then flux and torque are also function of frequency and voltage. Various methods are used to control the flux and voltage. This paper is focused on sliding mode control technique for induction motor.
state space representation,State Space Model Controllability and Observabilit...Waqas Afzal
State Variables of a Dynamical System
State Variable Equation
Why State space approach
Block Diagram Representation Of State Space Model
Controllability and Observability
Derive Transfer Function from State Space Equation
Time Response and State Transition Matrix
Eigen Value
State space analysis, eign values and eign vectorsShilpa Shukla
State space analysis concept, state space model to transfer function model in first and second companion forms jordan canonical forms, Concept of eign values eign vector and its physical meaning,characteristic equation derivation is presented from the control system subject area.
It gives how states are representing in various canonical forms and how it it is different from transfer function approach. and finally test the system controllability and observability by kalman's test
Speed Control Techniques for Induction Motor - A Reviewijsrd.com
In this paper, various types of speed control methods for the single phase induction motor are described. Speed can be controlled to control the frequency or slip can be controlled to control the torque. Then flux and torque are also function of frequency and voltage. Various methods are used to control the flux and voltage. This paper is focused on sliding mode control technique for induction motor.
Optimal Design of Super Twisting Control with PSO Algorithm for Robotic Manip...CSCJournals
Robotic manipulators are nonlinear and coupling systems exposing to external disturbance. They are used in wide industrial applications; the suitable selection of a nonlinear robust controller is required. Sliding Mode Controller (SMC) was designed to achieve these requirements, but unfortunately the chattering phenomenon was the main drawback of the conventional SMC. It leads to destructive of some components of a real system and subsequent loss in its accuracy. Hence, the design of Super-Twisting Controller (STC) is suggested for chattering elimination. In previous literatures, the accomplishment of the manual adjustment for the parameters of STC was a large burden and time consuming process. Therefore, a new combination of Particle Swarm Optimization (PSO) algorithm with STC is proposed for optimal tuning of STC parameters. The simulation results demonstrate the superiority of the super twisting technique for chattering mitigation comparing to the conventional SMC. Also, STC tuned via PSO proves its effectiveness and robustness to different types of external disturbances without the needs for the knowledge of their upper boundary values. Besides, the performance of the controlled system is faster and more accurate in the criteria of overshoot, settling time and rise time compared to the manual adjusting of super twisting controllers.
Induction motor harmonic reduction using space vector modulation algorithmjournalBEEI
The vector control was proposed as an alternative to the scalar control for AC machines control. Vector control provide high operation performance in steady state and transient operation. However, the variable switching frequency of vector control causes high flux and torque ripples which lead to an acoustical noise and degrade the performance of the control scheme. The insertion of the space vector modulation was a very useful solution to reduce the high ripples level inspite of its complexity. Numerical simulation results obtained in MATLAB/Simulink show the good dynamic performance of the proposed vector control technique and the effectiveness of the proposed sensorless strategy in the presence of the sudden load torque basing on the integral backstepping approach capabilities on instant perturbation rejection.
Keywords
Design and Simulation Analysis of Sliding Mode Controller for DC-DC Cuk Conve...IJMREMJournal
Due to compact size and fast dynamic response DC-DC converters are used to a great extent. DC-DC Cuk converter has switching transients which leads to switching losses and harmonics generation. With a linear controller like Proportional integral derivative (PID), the transients and oscillations under supply and load variations cannot be controlled. So, it becomes necessary to use a nonlinear controller to make transient performance of the converter stable increase its efficiency. A great advantage of this controller includes, it’s based on large signal model of DC to DC converters hence its stability is not bounded by the size of the interpretations around the working point. In this research work, simulation model of cuk converter with sliding mode controller is developed and tested using MATLAB SIMULINK. Effectiveness of proposed sliding mode controller for cuk converter is proved from simulation results.
Design and Simulation Analysis of Sliding Mode Controller for DC-DC Cuk Conve...IJMREMJournal
Due to compact size and fast dynamic response DC-DC converters are used to a great extent. DC-DC Cuk
converter has switching transients which leads to switching losses and harmonics generation. With a linear
controller like Proportional integral derivative (PID), the transients and oscillations under supply and load
variations cannot be controlled. So, it becomes necessary to use a nonlinear controller to make transient
performance of the converter stable increase its efficiency. A great advantage of this controller includes, it’s
based on large signal model of DC to DC converters hence its stability is not bounded by the size of the
interpretations around the working point. In this research work, simulation model of cuk converter with sliding
mode controller is developed and tested using MATLAB SIMULINK. Effectiveness of proposed sliding mode
controller for cuk converter is proved from simulation results.
Big Bang- Big Crunch Optimization in Second Order Sliding Mode ControlIJMTST Journal
In this article, Second order sliding mode with Big Bang- Big Crunch optimization technique is employed
for nonlinear uncertain system.The sliding surface describes the transient behavior of a system in sliding
mode. Frequently, PD- type sliding surface is chosen as a hyperplane in the system state space.An integral
term incorporated in the sliding surface expression that resulted in a type of PID sliding surface as hyperbolic
function for alleviating chattering effect. The sliding mode control law is derived using direct Lyapunov
stability approach and asymptotic stability is proved theoretically. Here, novel tuning scheme is introduced for
estimation of PID sliding surface coefficients, due to which it reduces the reaching time as well as disturbance
effect.The simulation results are presented to make a quantitative comparison with the traditional sliding
mode control. It is demonstrated that the proposed control law improves the tracking performance of system
dynamic model in case of external disturbances and parametric uncertainties.
The main objective of this paper is to continue the development of activities of basic and applied research related to wind energy and to develop methods of optimal control to improve the performance and production of electrical energy from wind. A new control technique of Double fed induction generator for wind turbine is undertaken through a robust approach tagged nonlinear sliding mode control (SMC) with exponential reaching law control (ERL). The SMC with ERL proves to be capable of reducing the system chattering phenomenon as well as accelerating the approaching process. A nonlinear case numerical simulation test is employed to verify the superior performance of the ERL method over traditional power rate reaching strategy. Results obtained in Matlab/Simulink environment show that the SMC with ERL is more robust, prove excellent performance for the control unit by improving power quality and stability of wind turbine.
This work treats the modeling and simulation of non-linear system behavior of an induction motor using backstepping sliding mode control (BACK- SMC). First, the direct field oriented control IM is derived. Then, a sliding for direct field oriented control is proposed to compensate the uncertainties, which occur in the control. Finally, the study of Backstepping sliding controls strategy of the induction motor drive. Our non linear system is simulated in MATLAB SIMULINK environment, the results obtained illustrate the efficiency of the proposed control with no overshoot, and the rising time is improved with good disturbances rejections comparing with the classical control law.
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Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
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Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
1. SLIDING MODE CONTROL AND ITS
APPLICATION
Mr.BINDUTESH V SANER
Guided by Prof. B.J PARVAT
Pravara Rural Engineering College, Loni
11/11/2015
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
2. CONTENTS
1. INTRODUCTION
2. SLIDING MODE CONTROL
3. CONCEPT OF SLIDING MODE CONTROL
4. CHATTERING MAIN DRAWBACK
5. CHATTERING REDUCTION METHOD
6. MERITS & DEMERITS
7. DRAWBACK OF SMC
8. SMC IN TRANSLATIONAL TRAJECTOY OF QUADROTOR
9. CONCLUSION
10. REFERENCE
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
3. INTRODUCTION
◮ An ideal sliding mode exists only when the system state
satisfies the dynamic equation that governs the sliding mode
for all time. This requires an infinite switching, in general, to
ensure the sliding motion.
◮ The sliding mode control approach is recognized as one of the
efficient tools to design robust controllers for complex
high-order nonlinear dynamic plant operating under
uncertainty conditions.
◮ sliding controller design provides a systematic approach to the
problem of maintaining stability and consistent performance.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
4. CONCEPT OF SLIDING MODE CONTROLLER
Advantage of sliding mode controllers is their insensitivity to
parameter variations and disturbances once in the sliding mode,
there by eliminating the necessity of exact modeling.
The SMC design is composed of two steps.
◮ In the first step, a custom-made surface should be designed.
While on the sliding surface, the plants dynamics is restricted
to the equations of the surface and is robust to match plant
uncertainties and external disturbances.
◮ In the second step, a feedback control law should be designed
to provide convergence of a systems trajectory to the sliding
surface; thus, the sliding surface should be obtained in a finite
time. The systems motion on the sliding surface is called the
sliding mode.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
5. ◮ First Step: The first step in SMC is to define the sliding
surface, S(t),
which represents a desired global behavior, such as stability
and tracking performance.
s(t) = (
d
dt
+ λ)
n
t
0
e(t)dt
◮ Second step: once the sliding surface has been selected,
attention must be turned to designing the control law that
drives the controlled variable to its reference value and
satisfies equation
U(t) = Uc(t) + Ud(t)
where
Ud = b−1
[−a1x1 − (c + a2)x2 − n sin(σ)]
◮ The continuous part is given by
Uc(t) = f (x(t), r(t))
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
6. Cont...
◮ The continuous part of the controller is obtained by
combining the process model and sliding condition.
The discontinuous part is nonlinear and represents the
switching element of the control law.
◮ The aggressiveness to reach the sliding surface depends on the
control gain but if the controller is too aggressive it can
collaborate with the chattering.
UD(t) = KD
s(t)
| s(t) | +δ
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
7. Cont...
sliding mode can be clearly understood by the below figure
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
8. ◮ Reaching phase:In this phase a trajectory, starting from a
nonzero initial condition and reach to sliding surface.
◮ Sliding surface:In which the trajectory on reaching the sliding
surface, remains there for all further times and thus evolves
according to the dynamics specified by the sliding surface.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
9. CHATTERING main drawback of SMC
◮ In theory, the trajectories slide along the switching function.
◮ In practice, there is high frequency switching.
◮ A high-frequency motion called chattering (the states are
repeatedly crossing the surface rather than remaining on it),
so that no ideal sliding mode can occur in practice.
◮ Yet, solutions have been developed to reduce the chattering
and so that the trajectories remain in a small neighborhood
(boundary) of the surface.
Called as chattering because of the sound made by old
mechanical switches.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
10. CHATTERING- REDUCTION
Chattering could be reduced or suppressed using different
technique such as,
◮ Non-linear gains
◮ Dynamic extension
◮ Higher order sliding mode control
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
11. MERITS & DEMERITS
MERIT
◮ Controller design provides a systematic approach to the
problem of maintaining stability & consistent performance in
the face of modeling imprecision.
◮ Possibility of stabilizing some nonlinear systems which are not
stabilizable by continuous state feedback laws.
◮ Robustness property that is once the system is on sliding
surface then it produced bounded parameter variation and
bounded disturbances.
DEMERITS
◮ The main obstacle to the success of these techniques in the
industrial community is the implementation had an important
drawback that is the actuators had to cope with the high
frequency control actions that could produce premature
wear or even breaking.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
12. What SMC does in quadrotor vehicles?
◮ Sliding mode control was chosen for its ability to stabilize the
platform in the face of unknown modeling errors.
◮ The control scheme operates by forcing an error vector toward
a sliding surface in the state space .
◮ Once on the sliding surface, the vehicles dynamics are defined
by the dynamics of the surface. These dynamics
converge(move towards one point ie. towards sliding surface)
the error vector towards zero.
◮ Sliding modes to control the quadrotor, but computed desired
roll and pitch angles as the controller output instead of
calculating motor speeds.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
13. Depicting the Euler angles of roll (φ), pitch(θ), and yaw(ψ) and
the cartesian co-ordinate frame.
◮ The motors operate in pairs with motors 1 and 3 operating
together and motors 2 and 4 operating together. By varying
the speed of a motor, it is possible to manipulate the
generalized lift force.
◮ Changing the relative speeds of motors 1 and 3 controls the
pitch angle, and consequently creates motion in the x-axis.
◮ Varying the speeds of motors 2 and 4 creates a roll angle
which creates translational motion in the y-axis.
◮ Altitude is controlled by the sum of the forces of all the
motors.
◮ Yaw moment is created from the difference in the
counter-torques between each pair of motors.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
15. Model assumption for Quadrotor
For translational motion, the inputs become a desired roll, pitch
and yaw value to create an attitude that translates the quadrotor
to the desired position.
To verify the validity of those assumptions, an estimated model
was computed from groundtruth data to determine the accuracy
and bounds of the parameters in the estimated model.
The estimated model is shown in equation with the calculated
parameters.
ˆx = 10.84(CφSθCψ + SφSψ) − 0.37ˆx + 0.16 (1)
ˆy = −10.49(CφSθCψ − SφCψ) − 0.18ˆy − 0.28 (2)
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
16. Chattering effect
When the system is operating near the manifold(s ≈ 0), noise in
the observed quantities causes chatter to result from the function
sign(s). The function is smoothed using the approximation sign(s).
control chatter is evident as shown in Figure.
Figure: Control Response with Chattering
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
17. Simulation result
Figure shows where the red line is the desired position/attitude
and the blue line is the simulated position/attitude.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
18. Conclusion
◮ SMC has been an important theoretical research field. Today,
it is becoming a good source of solutions to real-world
problems. Its potential is limited only by the imagination of
the people working in process control. Therefore, the
prospects for the application for SMC in the processing
industries are immense.
◮ Main benefits of sliding mode control are the invariance and
quality properties and the ability to minimize the problems
into sub-tasks of lower in balance.
◮ However, it has been shown that imperfections in switching
devices and delays were inducing.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION
19. REFERENCES
◮ H. Bouadi, M. Bouchoucha, and M. Tadjine, Sliding mode
control based on backstepping approach for an uav
typequadrotor, International Journal of Applied Mathematics
and Computer Sciences, vol. 4, no. 1, pp. 1217, 2008.
◮ William selby paper on sliding mode control for translational
trajectory following for a quadrotor vehicle 2012
◮ Slotine, J. J., and Li, W., Applied Nonlinear Control,
Englewood Cliffs, NJ: Prentice Hall, 1991.
Mr.BINDUTESH V SANER SLIDING MODE CONTROL AND ITS APPLICATION