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Demagnetization fault reconstruction for six-phase permanent magnet synchronous motor by improved super-twisting algorithm-based sliding-mode observer

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MEASUREMENT 2021年 172卷 108905-108905页

作者： Zhao, Kaihui Leng, Aojie Zhou, Ruirui Dai, Wangke Wu, Sicheng Li, Tao Hunan Univ Technol Coll Elect & Informat Engn Zhuzhou 412007 Peoples R China Hunan Univ Technol Coll Traff Engn Zhuzhou 412007 Peoples R China Tokyo Univ Technol Sch Engn Hachioji Tokyo 1920982 Japan

Demagnetization fault causes the performance degradation of a permanent magnet synchronous motor (PMSM) drive system. Therefore, it is of great importance to reconstruct demagnetization fault in real-time. This paper firstly presents a demagnetization fault reconstruction method for a six-phase permanent magnet synchronous motor (SP-PMSM). A super-twisting algorithm-based sliding-mode Luenberger observer (STA-SMLO) is designed. It can eliminate the chattering of the sliding mode observer (SMO) and effectively isolate the influence of motor speed on the observer. The mathematical model of the demagnetized SP-PMSM is constructed by the vector space decomposition (VSD). Then, an STA-SMLO, which combines a super-twisting algorithm-based sliding-mode observer (STA-SMO) with a Luenberger-observer (LO), is designed to reconstruct the demagnetization fault of the SP-PMSM precisely. Moreover, a strong Lyapunov function is designed to ensure the stability of STA-SMLO. Experiment results of hardware-in-the-loop simulation (HILS) demonstrate the feasibility and advantages of the method.

关键词： Six-phase permanent magnet synchronous motor (SP-PMSM) Demagnetization fault super-twisting algorithm Sliding-mode observer Luenberger observer

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Safe Tracking Control of Euler-Lagrangian Systems Based on A Novel Adaptive super-twisting algorithm 21st

Safe Tracking Control of Euler-Lagrangian Systems Based on A...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Zhang, Zengjie Wang, Yongchao Wollherr, Dirk Tech Univ Munich Chair Automat Control Engn Munich Germany

In this paper, a novel adaptive second-order sliding mode controller is designed for Euler-Lagrangian systems with hard safety constraints. Different from the conventional sliding mode controllers, the proposed method provides adaptive controller parameters, such that the robustness of the controller is ensured without bringing up chattering. The controller also guarantees strict compliance to hard state-dependent inequality constraints. The asymptotic convergence of the tracking errors of the proposed controller is proven by a direct Lyapunov method. Finally, the proposed controller is validated by numerical simulation on a three-degree-of-freedom robot platform. The results confirm that the controller ensures strict constraint compliance and precise trajectory tracking, which reveals its potential applicability to the safe control of mechatronic systems. Copyright (C) 2020 The Authors.

关键词： human-robot interaction adaptive sliding mode control super-twisting algorithm parameter self-tuning robot safety control state-constrained control hard safety constraints

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Direct-Driven PMSG Wind Turbines: Adaptive super twisting algorithm Control Approach

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IFAC-PapersOnLine 2024年第13期58卷 757-762页

作者： M. Benzaouia S. Benzaouia A. Rabhi B. Hajji AO. Elgharib Renewable Energy Embedded System and Data Processing Laboratory National School of Applied Sciences Mohamed First University Oujda Morocco Capgemini Engineering Direction Research & Innovation F-31700 Blagnac France Laboratory of Modelisation Information and Systems – MIS University of Picardie Jules Verne 33 rue Saint Leu 80039 Amiens Cedex France Basic and Applied Science Department Arab Academy for Science Technology and Maritime Transport (AASTMT) Giza Egypt

This paper deals with the development of a robust nonlinear control strategy for direct-driven Permanent Magnet Synchronous Generator (PMSG) wind turbines. First-Order Sliding Mode Controllers (FOSMC) are commonly used in such systems to regulate generator rotational speed and optimize power extraction; however, they encounter significant drawbacks, notably the undesirable chattering effect and the necessity for measuring additional system states, leading to increased complexity and implementation costs. In addressing these issues, an effective control technique based on an Adaptive super-twisting algorithm (ASTA) has been proposed. This algorithm not only mitigates the chattering effect but also offers a more cost-effective implementation by incorporating online gains adaptation to accommodate the unpredictable nature of wind speeds. The proposed control technique has been evaluated in MATLAB/Simulink through model-in-the-loop simulations; demonstrating superior performance compared to classical FOSMC and STA controllers under various scenarios.

关键词： PMSG Wind Turbine MPPT Sliding Mode Control super-twisting algorithm Field Oriented Control (FOC) WECS

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Quantized super-twisting algorithm based sliding mode control

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AUTOMATICA 2019年 105卷 43-48页

作者： Yan, Yan Yu, Shuanghe Yu, Xinghuo Dalian Maritime Univ Coll Marine Elect Engn Dalian 116026 Peoples R China RMIT Univ Sch Engn Melbourne Vic 3001 Australia

The paper is concerned with the stability of an uncertain system with quantization by using super twisting controller. Both uniform and logarithmic quantization schemes are considered. Our main discovery is that the trajectories are always bounded with static uniform quantization scheme and are globally finite-time stable with logarithmic quantization scheme. Furthermore, a dynamic uniform quantization scheme is proposed to eliminate quantization errors. Simulation examples are given to shown the effectiveness of the proposed design approach. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Quantization super-twisting algorithm Sliding mode control

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A Disturbance Rejection Control Strategy for Droop-Controlled Inverter Based on super-twisting algorithm

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IEEE ACCESS 2019年 7卷 27037-27046页

作者： Zhang, Wei Wang, Wei Liu, Hongpeng Xu, Dianguo Harbin Inst Technol Dept Elect Engn Harbin 150001 Heilongjiang Peoples R China

In distributed generation systems, multiple inverters paralleled operation is essential for the power requirement of local loads. To achieve the reasonable power distribution among the inverters, droop control is an effective method for the paralleled operation systems without the control interconnection. In general, the multi-loop control structure is usually utilized to regulate the drooped voltage across local loads. However, by using the traditional multi-loop controller, such as proportional-integral and proportional-resonant controllers, the dynamic process of load variation or mode transfer is slow, even the voltage overshoot or drop may occur. To address the above issues, a compact control structure-based super-twisting algorithm has been proposed in this paper. Benefitting from the designed sliding mode controllers, the dynamic response, the load disturbance rejection, and reference tracking performance can be improved. In addition, the robustness to parameters mismatch can also be achieved by using the proposed control method. The comparative simulation and experimental results validate the correctness and feasibility of the proposed method.

关键词： Microgird system voltage-controlled inverter disturbance rejection super-twisting algorithm droop control

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Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2019年第9期233卷 3244-3259页

作者： Wei, Jinyuan Yuan, Jianping Wang, Zheng Northwestern Polytech Univ Natl Key Lab Aerosp Flight Dynam 127 West Youyi Rd Xian 710072 Shaanxi Peoples R China Northwestern Polytech Univ Sch Astronaut Xian Shaanxi Peoples R China

There often exist strong coupled characteristics between the space robot platform and the manipulators. The neglect of the coupled factors may induce undesired control performance or even lead to system crash. In this paper, a novel robust adaptive coordinated control scheme is developed for a space robot with coupled uncertainties and external disturbances. By proposing a multivariable generalized super-twisting algorithm, the bounded disturbances together with uncertainties could be compensated. An adaptation tuning approach is developed to deal with the unknown bounds. Meanwhile, the sliding mode disturbance observer is introduced to alleviate the system conservatism and improve convergence rate and accuracy. As a result, the accurate state tracking is achieved in finite time. A proof of the finite-time convergence is derived using the Lyapunov theory. Simulations are carried out on a space robot with a three-degrees-of-freedom manipulator to demonstrate the effectiveness and robustness of the proposed method.

关键词： Space robot coordinated control super-twisting algorithm adaptive control sliding mode disturbance observer

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Time-varying sliding mode controller design with super-twisting algorithm for Synchronous control of Double-Containers for Overhead Cranes

Time-varying sliding mode controller design with Super-twist...

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第40届中国控制会议

作者： Xinlei Zhu Weimin Xu Zhiteng You Qiang Hu Xianxian Xu Key Laboratory of Marine Technology and Control Engineering Ministry of CommunicationsShanghai Maritime University

In this study, a simple double-container position synchronization control algorithm based on a time-varying sliding mode surface(TVSMS) and adaptive super-twisting algorithm(ASTA) is developed for overhead crane system. The double-container overhead crane suffers from the perturbation of system parameters and external disturbances Firstly, the potential load model of the double-container overhead crane in the interlocking mode is established. Then, a novel time-varying sliding surface is designed using cross-coupling error in order to ensure double-container position synchronization of overhead crane system. The design objective of the proposed controller is to ensure the synchronous movement of double-container while reaching the desired location. The time-varying sliding mode eliminates the reaching phase and ensures the global robustness of the overhead crane system. Furthermore, the adaptive super-twisting algorithm is used to weaken chattering and improve the performance of the controller. At the same time, the extended state observer(ESO) is used to estimate the mismatched disturbance of the overhead crane system. The Lyapunov stability theory is used to prove the stability of the controlled system. The simulation experiments illustrate the effectiveness of the designed algorithms.

关键词： synchronous control interlocking mode time-varying sliding mode extended state observer super-twisting algorithm

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Discrete-time equivalents of the super-twisting algorithm

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AUTOMATICA 2019年 107卷 190-199页

作者： Koch, Stefan Reichhartinger, Markus Graz Univ Technol Inst Automat & Control Christian Doppler Lab Model Based Control Complex Graz Austria Graz Univ Technol Inst Automat & Control Graz Austria

In this paper, entirely new discrete-time variants of the super-twisting algorithm are presented. The development of these discrete-time equivalents is based on certain criteria, e.g., the approximation of the continuous-time super-twisting algorithm as the discretization time tends to zero. In contrast to the classical explicit Euler discretized super-twisting dynamics, the proposed schemes are exact in the sense that in the unperturbed case, the controllers ensure local convergence to the origin. Oscillations of the system states caused by the discrete-time implementation of the super-twisting algorithm are avoided. The superiority of the developed control laws is demonstrated in simulation examples as well as in a real-world application. These examples reveal that the standard accuracy of the homogeneous second-order sliding mode is preserved and, in contrast to the explicit Euler discretized algorithm, in the presence of exact discrete measurements, the precision of the controlled variable is insensitive to oversized control gains. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： Sliding mode control super-twisting algorithm Robust control Discrete-time systems Chattering Stability analysis

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An Adaptive Robust Guidance Law Designed by Non-smooth Continuous Control and super-twisting algorithm

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ENGINEERING LETTERS 2019年第1期27卷 256-262页

作者： Xu, Shuai Gao, Min Wang, Yi Fang, Dan Jin, Saisai Army Engn Univ 97 Heping West Rd Shijiazhuang 050003 Hebei Peoples R China Beijing Aerosp Command Control Ctr 109 YouYi Rd Beijing 100000 Peoples R China

On the basis of non-smooth continuous control and super-twisting algorithm, an adaptive robust finite-time stable guidance law with attack angle constraint is proposed. For the nominal closed-loop system, a continuous non-smooth guidance law is presented on account of non-smooth control. By improving the fractional power function in the feedback function to speed up the convergence process, the law has a shorter convergence time. Then, super-twisting algorithm is applied to reduce the control command chattering. Besides, the parameters are adjusted by adaptive law to avoid the "excessive estimation" problem of the parameter upper limits. Simulation results under disturbance conditions indicate that the designed guidance law can effectively overcome influence of random disturbances, and obtain higher guidance precision than the law with traditional sliding mode.

关键词： guidance law non-smooth control super-twisting algorithm parameter adaptation finite-time stability

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super-twisting algorithm with time delay estimation for uncertain robot manipulators

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NONLINEAR DYNAMICS 2018年第2期93卷 557-569页

作者： Kali, Yassine Saad, Maarouf Benjelloun, Khalid Khairallah, Charles Mohammed V Univ Ecole Mohammadia Ingn Rabat Morocco Ecole Technol Super Montreal PQ Canada President Robot Design Inc Montreal PQ Canada

This paper proposes a super-twisting algorithm (STA) with time delay estimation (TDE) for the problem of high-accuracy tracking trajectory of robotic manipulators in the presence of uncertainties and unexpected disturbances. The TDE method is known for it capability to estimate uncertainties simply without an exact knowledge of the system dynamics. Using the estimated uncertainties, the control law is then designed based on STA to ensure robustness, finite-time convergence and chattering reduction. The stability analysis of the closed-loop system and the finite-time convergence are proved using Lyapunov theory. In order to show the effectiveness of the proposed method, simulations and experimental results were carried out on a 2-DOF rigid robot manipulator and on the 7-DOF ANAT robot arm, respectively.

关键词： super-twisting algorithm Time delay estimation Lyapunov Uncertain robot Tracking trajectory

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