Real-time experiments with discrete sliding-mode control enhanced by AI components

• Autorzy: Sha D. H. , Bajić V. B. , Li X. Z. , Wang X.
• Języki publikacji: EN

Abstrakty

EN

The paper presents some experimental results of a real-time implementation of discrete sliding mode control combined with a fuzzy-logic damper block. The hybrid real-time algorithm developed is aimed at applications to discrete systems. The sliding mode pan of the solution is based on system input and output measurements. The algorithm combines an integral action, a nonlinear output feedback, an adjustable sliding mode, and a fuzzy logic damping control block. Design of the sliding mode controller is based on the asymptotic reaching law method. The determination of the integral gain and the coefficients of the sliding mode hyper-plane are made by a pole assignment procedure. The paper presents both the simulation results and the results of laboratory real-time control experiments. The real-time control experiments are made with the motor speed control system using an DSP based hardware (TMS230C31/60 MHz). The results obtained demonstrate the robustness and superiority of the proposed solution in the motor speed control, as compared to the solution based on the optimally tuned PI controller.

Słowa kluczowe

EN

real-time algorithm; hybrid control; fuzzy logic; sliding mode control; discrete system

PL

algorytm w czasie rzeczywistym; sterowanie hybrydowe; logika rozmyta; sterowanie ślizgowe; system dyskretny

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Journal of Applied Computer Science
• Rocznik: 2000
• Tom: Vol. 8, nr 2
• Strony: 99--117
• Opis fizyczny: Bibliogr. 40 poz.

Twórcy

autor

Sha D. H.

• Centre for Engineering Research, Technikon Natal, P.O. Box 4000, Durban, South Africa

autor

Bajić V. B.

• Centre for Engineering Research, Technikon Natal, P.O. Box 4000, Durban, South Africa

autor

Li X. Z.

• Centre for Engineering Research, Technikon Natal, P.O. Box 4000, Durban, South Africa

autor

Wang X.

• Centre for Engineering Research, Technikon Natal, P.O. Box 4000, Durban, South Africa

Bibliografia

• [1] G. M. Aly and W. G. All, Digital Design of variable structure control systems, International Journal of Systems Science, Vol. 21,No. 8, 1990, pp. 1709-1720.
• [2] V. B. Bajić, Imitation of human reasoning for improvement of derivative action in the constrained PID control. Proceedings of the International Conference: Systems - Analysis, Control and Design, Vol. 3, Brno, Czech Republic, 1995, pp. 153-159.
• [3] V. B. Bajić and A. Rybalov, Fuzzy modifier of PID control for improvement of tracking properties in servo systems, Proceedings of the International Conference on Intelligent Technologies in Human-Related Sciences (ITHURS’96), Vol. 11, Leon, Spain, July 5-7, 1996, pp. 111-115.
• [4] V. B. Bajić, X. Li and D. Sha, How driving a car can improve loop tuning, submitted to IEEE Transactions on Systems, Man, and Cybernetics, Part B, 2000.
• [5] G. Bartolini, A. Ferrara and V. I. Utkin, Adaptive Sliding Mode Control in Discretetime Systems, Automatica, Vol. 31,No. 5, 1995, pp. 769-773.
• [6] G. Bartolini, A. Ferrara and E. Usai, Chattering Avoidance by Second-Order Sliding Mode Control, IEEE Trans. On Automation Control, Vol. 43, No. 2,1998, pp. 241-246.
• [7] A. Bartoszewicz, Discrete-Time Quasi-Sliding-Mode Control Strategies, IEEE Transactions on Industrial Electronics, Vol. 45, No. 4, August 1998, pp. 633-637.
• [8] T. -L. Chem and Y. -C. Wu, Design of integral variable structure controller and application to electro-hydraulic velocity servo-systems, IEE Proceeding-D, Vol. 138, No. 5, 1991, pp. 439-444.
• [9] T. Chem, C. Chuang, and R. Jiang, Design of discrete integral variable structure control system and application to a brushless DC motor control, Vol. Automation, Vol. 32, No. 5, 1996, pp. 773-779.
• [10] S. C. Chung and C.-L. Lin, A General Class of Sliding Surface for Sliding Mode Control, IEEE Trans, on Automatic Control, Vol. 43, No. 1, 1998, pp. 115-119.
• [11] C. Edwards and S. K. Spurgeon, Robust output tracking using a sliding mode controller / observer scheme, International Journal of Control, Vol. 64, 1996, pp. 967-983.
• [12] C. Edwards and S. K. Spurgeon, Sliding mode output tracking with application to a multvariable high temperature furnace problem, Int. J. Robust and Nonlinear Control, Vol.7, 1997, pp.337-351.
• [13] K. Furuta, Sliding mode control of a discrete system, Systems & Control Letters, Vol. 14, 1990, pp. 145-152.
• [14] W. Gao, Y. Wang and A. Homaifa, Discrete-time Variable Structure Systems, IEEE Trans, on Industrial Electronics, Vol. 42,No. 2, April 1995, pp. 117-122.
• [15] P. Govender and V. B. Bajić, Fuzzy logic enhancement of anti-windup PID control for servo systems, in Advances in Intelligent Systems (F. C. Morabito, Ed.), IOS Press, Amsterdam, 1997, pp. 474-478.
• [16] P. Govender and V. B. Bajic, Fuzzy logic modifier of PID control for processes having long dead time, in Modeling and Simulation: Key to Technological Advances (A. Zayegh, Ed.), Third International Conference on Modeling and Simulation (MS'97), Melbourne, Australia, 1997, pp. 185-188.
• [17] L. Hsu, F. Lizarralde and A. D. de Araujo, New Results on Output-Feedback Variable Structure Model-Reference Adaptive Control: Design and Stability Analysis, IEEE Trans. Automation Control, Vol. 42,No. 3, March 1997, pp. 386-393.
• [18] L. Hsu, Variable structure model reference adaptive control using only I/O measurement: General case, IEEE Trans. Automation Control, Vol. 35, No. 11, 1990, pp. 1238-1243.
• [19] L. Hsu, A. D. Araujo and R. R. Costa, Analysis and design of I/O based variable structure adaptive control,IEEE Trans. Automat. Contr., Vol. 39, No. 1,1994, pp. 4-21.
• [20] L. Hsu and R. R. Costa, Variable structure model reference adaptive contrpl using only input and output measurement: Part I, International Journal of Control, Vol. 49, No. 2, 1989, pp. 399-416.
• [21] H. N. Iordanou and B. W. Surgenor, Experimental Evaluation of the Robustness of Discrete Sliding Mode Control versus Linear Quadratic Control, IEEE Trans. Control Systems Technology, Vol. 5, No. 2, 1997, pp. 254-260.
• [22] S. -L. Jung and Y. -Y. Tzou, Discrete Sliding Mode Control of a PWM Inverter for Sinusoidal Output Waveform Synthesis with Optimal Sliding Curve, IEEE Trans, on Power Electronics, Vol. 11, No. 4, pp.567-577, July 1996.
• [23] P. Korondi, H. Hashimoto and V. Utkin, Direct Torsion Control of Flexible Shaft in an Observer-Based Discrete-Time Sliding Mode, IEEE Transactions on Industrial Electronics, Vol. 45, No. 2, April 1998, pp. 291-296.
• [24] J. Lee, On Methods for Improving Performance of PI-Туре Fuzzy Logic Controllers, IEEE Transaction on Fuzzy Systems, Vol. l,No. 4, 1993, pp. 298-301.
• [25] C. Milosavijevic, General conditions for the existence of a quasi-sliding mode on the switching hyper-plane in discrete variable structure systems, Automation Remote Control, No. 3, March 1985, pp.36-44.
• [26] A. Misawa, Discrete-Time Sliding Mode Control, ASME's Journal of Dynamic Systems, Measurement and Control, Vol.l 19, September 1997, pp. 503-512.
• [27] A. Misawa, Discrete-Time Sliding Mode Control: the Linear Case, ASME's Journal of Dynamic Systems, Measurement and Control, Vol. 119, December 1997, pp. 819-821.
• [28] R. K. Mudi and N. R. Pal, A robust self-tuning scheme for PI- and PD-type fuzzy controllers, IEEE Transaction on Fuzzy Systems, Vol. 7, No. 1, February 1999, pp. 2-16.
• [29] B. Perunicic, C. Milosavijevic, G. Golo and D. Mitic, Variable Structure Systems: A Survey, Proceedings of the VI International SAUM Conference on System, Automatic Control and Measurements, Nis, Yugoslavia, September 28-30, 1998, pp. 26-33.
• [30] R. B. Potts and X. Yu, Discrete variable structure system with pseudo-sliding mode, J. Austral. Math. Soc., B32, pp. 1991, 365-376.
• [31] S. Z. Sarpturk, Y. Istefanopulos and O. Kaynak, On the stability of discrete-time sliding mode control systems, IEEE Trans. Automatic Control, Vol. AC-32, No. 10, 1987, pp. 930-932.
• [32] D. E. Seborg, F. E. Edgar and D. A. Mellinchamp, Process Dynamics and Control, John Wiley & Sons, 1989.
• [33] D. Sha and V. B. Bajić, Enhanced discrete robust sliding mode control with fuzzy logic block: Asymptotic law method, in Development and practice of artificial intelligence techniques (V. B. Bajić, D. Sha, Editors), pp. 150-158, IAAMSAD, Durban, South Africa, 1999.
• [34] D. Sha and V. B. Bajić, Robust Discrete Adaptive I/O Based Sliding Mode Controller, International Journal of Systems Science, accepted, 2000.
• [35] G. Shinskey, Process Control Systems, 2nd ed., McGraw-Hill, 1979.
• [36] H. Sira-Ramirez, Non-linear discrete variable structure systems in quasi-sliding mode, International Journal of Control,Vol. 54, No. 5, 1991, pp. 1171-1187.
• [37] S. K. Spurgeon, Hypeiplane design techniques for discrete-time variable structure control systems. International Journal of Control, Vol. 55, No. 2,1992, pp. 445-456.
• [38] V. I. Utkin, Variable structure systems with sliding modes, IEEE Trans. Automatic Control, Vol. AC-22, No. 2, 1977, pp. 212-222.
• [39] W. -J. Wang and G.-H. Wu, Variable structure control design on discrete-time systems from another viewpoint, Control-Theory and Advance Technology, Vol. 8, March 1992, pp. 1-16.
• [40] Z. -Y. Zhao, M. Tomizuka and S. Isaka, Fuzzy Gain Scheduling of PID Controllers, ШЕЕ Transaction on Systems, Man, And Cybernetics, Vol. 23, No. 5, 1993, pp. 1392-1398.