Sliding Mode Control of Electromechanical Systems

Sliding mode control provides insensitivity to parameter variations and disturbances. These robustness properties make this discontinuous control strategy very attractive. However, its implementation in the presence of unmodeled dynamics leads to high-frequency oscillations termed chattering. This effect degrades the control performance and might damage the system. Many current implementations suffer from this drawback. In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. The chattering problem is tackled by including actuator dynamics, which has so far been ignored, in the control unit design. The switching control law incorporates the dynamics of the electrical and the mechanical subsystem. The pulse width modulation (PWM) used in most present day implementations is eliminated and the controller directly drives the power switches. Hence, the discontinuous control inputs are the switched voltages applied to the motor. In addition, a comprehensive methodology to realize the proposed control scheme is developed. It allows the systematic design of sliding mode controllers for complex electromechanical systems. Compared to the existing design procedures, it is applicable to a wider class of systems. It can handle nonlinear systems governed by a set of coupled differential equations of arbitrary order in canonical form, as well as infinite dimensional systems. This thesis identifies and solves implementation issues of the generalized block control principle. Presented are necessary observers and a method to reject disturbances with known structure. The complete design procedure is illustrated by controlling an inverted pendulum system driven by a DC and a synchronous motor, as well as an induction machine. Simulations and experiments demonstrate the high performance and the robustness of the proposed control architecture. An essential contribution of this thesis is the position control of an induction machine that lays a foundation for building more robust and inexpensive robotic systems.

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