This paper presents a novel scheme for the speed/ position control of permanent-magnet (PM) dc motor drives. A cascade-control scheme, based on multiple instances of a secondorder sliding-mode-control (2-SMC) algorithm, is suggested, which provides accurate tracking performance under large uncertainty about the motor and load parameters. The overall control scheme is composed of three main blocks: 1) a 2-SMC-based velocity observer which uses only position measurements; 2) a 2-SMC-based velocity control loop that provides a reference command current; and 3) a 2-SMC-based current control loop generating the reference voltage. The proposed scheme has been implemented and tested experimentally on a commercial PM dc motor drive. The experimental results confirm the precise and robust performance and the ease of tuning and implementation, featured by the proposed scheme.
Cascade Control of PM DC Drives Via Second-Order Sliding-Mode Technique
PISANO, ALESSANDRO;USAI, ELIO
2008-01-01
Abstract
This paper presents a novel scheme for the speed/ position control of permanent-magnet (PM) dc motor drives. A cascade-control scheme, based on multiple instances of a secondorder sliding-mode-control (2-SMC) algorithm, is suggested, which provides accurate tracking performance under large uncertainty about the motor and load parameters. The overall control scheme is composed of three main blocks: 1) a 2-SMC-based velocity observer which uses only position measurements; 2) a 2-SMC-based velocity control loop that provides a reference command current; and 3) a 2-SMC-based current control loop generating the reference voltage. The proposed scheme has been implemented and tested experimentally on a commercial PM dc motor drive. The experimental results confirm the precise and robust performance and the ease of tuning and implementation, featured by the proposed scheme.
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