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A torque control method for Brushless Direct Current (BLDC) motor is introduced in this paper, which plays vital roles in In-wheel vehicle system. In-wheel motor can be used in electric cars with 4 wheels independent drive configuration. Within every wheel, there can be one “Direct-Drive In-wheel motor” to generate the necessary torque per wheel. In order to improve dynamic response characteristics...
Variable structure control (VSC) theory is applied to analyze and design AC servo system for field-oriented permanent-magnet synchronous motor, which is based on Luenberger load observer. Some results of simulation experiments suggest that the AC servo system based on VSC has speedy response, high accuracy and strong robustness against its parameter variations and load disturbances. Its performance...
This paper investigates the application to the provision of integral discrete sliding mode tracking control with input constraint for engine idling speed control because the control logic are always implemented in discrete-time by microprocessors. The subject of this experiment is to improve the stability of the system against disturbances such as fuel purges and torque loads. A discrete Sliding mode...
This paper proposes a particular method for position velocity loops to solve the velocity control problem associated with conventional sliding mode control of permanent magnet synchronous motor (PMSM) servo system. The merits of conventional sliding mode control approach and PID control technique were introduced to design this novel controller for the position and velocity loops. The sliding mode...
This paper establishes the mathematical model of the three degrees freedom hydraulic turntable system, and presents a new design method and procedures of the variable structure control(VSC) system, and a new control law based Lyapunov theory. In this paper, simulation experiments of three degree freedom electrical-hydraulic turntables are conducted, and researches the robustness characteristic of...
This paper presents a feedback linearization control scheme with sliding mode controller (SMC) for enhancing performance of the induction motor drive. The feedback decoupling controller is designed in a stationary (α-β) reference frame with rotor flux and stator current components as state variables. Since the induction motor drive system is sensitive to parameter variation and load disturbances,...
According to the work characteristics of the electromechanical actuator, a control scheme of direct DC electromechanical actuator based on discrete-time variable structure controller is designed. The effect of hinge moment is considered in the mathematical model, and the coefficients of its transfer function are appropriately amended. The effect of the three parameters in the design of discrete-time...
The principle of vector control of AC machine enables the dynamic control of AC motors, and induction motors in particular to a level comparable to that of a DC machine. The vector control of currents and voltages results in control of spatial orientation of the electromagnetic fields in the machine and has led to term field orientation. Field oriented control schemes provide significant improvement...
This paper presents a position-sensorless field-oriented control of a novel axial flux permanent magnet machine for flywheel energy storage system. The approach is based on the estimation of the motor induced voltage with the help of measured stator currents and reference voltages. Based on sliding mode observers, rotor position can be accurately estimated. This novel flywheel energy storage system...
Anti-lock and also Anti-slip braking system controller designed for stability enhancement of vehicle during braking and turning circumstances is presented. Using available signals, a novel structure is proposed for vehicle stability improvement encountering critical braking conditions such as braking on slippery or μ-split road surfaces. In conventional vehicles, undesired lane changes may occur due...
Driver torque and steering reaction force are important information in the designing of EPAS (Electric Power Assisted Steering) system. The driver torque determines the amount of assisted torque and the reaction force can be used to improve the steering feeling and the vehicle stability or introduce a new assist torque control. Since, in practice, they are not usually measureable; a sliding mode observer...
A robust position control for induction motors using field oriented control theory is presented. The proposed controller is based on variable structure control and provides global asymptotic position tracking in the presence of unknown parameters and load torque variations. The proposed design incorporates an improved method of flux estimation that operates on the principle of flux and current observer...
One of the key elements for the aero electric actuator(EA) systems is the electric motor, the current generation systems typically use permanent magnet brushless motors, The performances of brushless DC motors(BLDCM) will directly restrict the performances of EA. A flexible variable structure(FVS) controller was designed to improve the dynamic and static performance of BLDCM. For the large state vectors,...
With the increasing demands for the agility of the next earth imaging satellite, control moment gyro (CMG) is considered to be the most suitable actuator because of its torque amplification capability. However, a CMG system may introduce uncertainty of inertia dyadic to a satellite's attitude control system. The uncertainty is negligible for large space vehicles, but it has not been tested whether...
Hybrid under-actuated control for the autonomous dynamic balance of a running electrical bicycle including frictional torque and motor dynamics is developed, where includes two control inputs: steering and pendulum voltages, and three system outputs: steering, lean and pendulum angles. Due to the under-actuated feature, two novel reference signals using three system outputs are designed so that the...
Electric propulsion systems are nowadays one of the most important ways to overcome the modern energy paradigm. Among other systems, electric boats can take advantage of using electric power increasing the efficiency of the propulsion chain and reducing the pollutant gas emissions. This paper presents and discusses global aspects of a boat propulsion system investigated using a low scale system. The...
Active multi-focal vision systems are designed to perform visual tasks such as saccades and smooth pursuit movements. Saccades are fast movements to a given position, which is a time-optimal control problem. Smooth pursuit movement is used to follow moving objects and is a tracking control problem. Therefore we use a hybrid approach for the control of our vision system. For saccades we use sliding-mode...
Attitude control of a micro-satellite is analyzed with sliding control method. With this method, attitude dynamics of satellite is robust against uncertainties and unknown disturbances. Nonlinear and coupled model in this paper is utilized and to prevent chattering, saturation functions are invoked. The gravity gradient as a disturbance is applied. The sliding approach is applied to the SSETI/ESEO...
A so called sliding-backstepping controller for attitude maneuver in some large flexible satellite is put forward. Further, combined with theory of Extended State Observer (ESO), the controller has been improved to estimate and compensate the uncertainties. After the stability analysis, simulation was carried out in particular using Single Gimbal Control Moment Gyros (SGCMGs) as the momentum actuator...
In this contribution a second-order sliding modes based control design approach for setpoint tracking of an in-vehicle pedal robot's position is introduced. For this purpose a novel concept of in-vehicle pedal robots is considered, which is based on a PM-DC drive with rope winch and an optical distance sensor. In the control design task the distance between a brake, clutch or accelerator pedal and...
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