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Zulfatman Has,Mohd. Fua’ad Rahmat,Abdul Rashid Husain,Mohd. Noh Ahmad 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
This paper presents a new robust control scheme for a class of electro-hydraulic actuator using dynamic sliding mode control associated with nonlinear disturbance observer. Switching-gain of the sliding mode is designed to be adaptable on the estimated disturbance. A switching-gain adaptation mechanism is proposed to obtain as small as possible switching-gain to minimize chattering effect. The scheme is developed to guarantee the tracking precision of the system with robust and smooth control actions in the existence of uncertainties and the changes of external disturbance. Capability of the proposed scheme is enhanced by varying boundary layers algorithm to assist the scheme to return to its ability in a larger change of external disturbance. Capability and effectiveness of the proposed scheme are validated through experiment, where the results indicate that the proposed scheme ensures the tracking precision of the system with robust and smooth control actions in a large change of external load disturbance. Moreover, smooth control actions that are produced by the proposed control scheme offer a significant efficiency of energy in the control of electro-hydraulic actuator systems.
Shahid Muhammad Bilal,Jin Weidong,Abbasi Muhammad Abbas,Husain Abdul Rashid,Hassan Mannan 대한전기학회 2023 Journal of Electrical Engineering & Technology Vol.18 No.3
Weighting factor design is considered a challenging and tedious task in finite control set model predictive torque control (FCS-MPTC) for induction motor drives. The complexity involved in designing the weighting factor occurs due to the presence of different quantities in the cost function. In the absence of an accurate design method, a constant weighting factor is used for entire operating range of the drive which does not guarantee optimal performance. To improve the performance of the MPTC, an online tuning method for the weighting factor is proposed in this work. The tuning process is achieved by comparing torque error to predefined threshold value at any given sampling instant. If the error is larger than the threshold limit, weighting factor is increased to bring the error within the acceptable limit and vice versa. In each sampling interval, the cost function is optimized with the tuned weighting factor and optimal voltage vector is chosen. The effectiveness of the proposed method is validated experimentally for a two level three-phase inverter-fed induction motor drive on dSpace DS1104 controller board. The performance of the proposed method is compared to the conventional MPTC with fixed weighting factor and an online weighting factor tuning method based on the principle of coefficient-of-variation (CV-MPTC). It is concluded that the proposed method not only improves dynamic performance of the drive as compared to both methods but also offers computational advantages over CV-MPTC.