SYNTHETIC TRACKING CONTROLLER FOR  ELASTIC JOINT ELECTRIC DRIVE SYSTEM USING PMSM MOTOR  BASED ON SLIDING MODE CONTROL AND DISTURBANCE OBSERVER

Nguyễn Văn Hải; Trần Đức Chuyển; Nguyễn Thị Bình Yên; Đỗ Thị Hà

doi:10.34238/tnu-jst.12405

SYNTHETIC TRACKING CONTROLLER FOR ELASTIC JOINT ELECTRIC DRIVE SYSTEM USING PMSM MOTOR BASED ON SLIDING MODE CONTROL AND DISTURBANCE OBSERVER

About this article

Received: 27/03/25 Revised: 08/04/25 Published: 12/04/25

Authors

1. Nguyen Van Hai, Phu Tho College of Technology and Agroforestry
2. Tran Duc Chuyen , University of Economics - Technology for Industries
3. Nguyen Thi Binh Yen, Lao Cai College
4. Do Thi Ha, Lao Cai College

Abstract

This paper presents the problem of synthesizing the controller of the electric drive system for industrial machines with elastic joint structure using permanent magnet synchronous motors based on the sliding mode control method combined with the disturbance observer to estimate the disturbance and nonlinear components to provide information and create control laws. The paper has specified the steps of synthesizing the controller and demonstrated the stability of the synthesized controller based on the Lyapunov stability theory. The control goal is to ensure that the end point trajectory of the working mechanism closely follows the set trajectory after a certain period of time. The research results are verified on Matlab - Simulink software, showing that the set value and the response value at the output of the system always closely follow with small errors, which proves that the quality of the synthesized controller can be applied in current practice.

Keywords

Sliding mode; Elastic joint; Disturbance observer; PMSM motor; Tracking controller

Full Text:

PDF (Tiếng Việt)

References

[1] V. C. Pham, V. H. Hoang, D. T. Nguyen, and H. H. Nguyen, “Synthesis of permanent magnet synchronous motor speed controller for fan load by adaptive sliding method,” Journal of Science and Technology; Hanoi Industrial University, vol. 58, no. 3, pp. 39-44, June 2022.

[2] W. Zhou, C. Lin, and Y. Yi, “Anti-Disturbance Tracking Control for a Class of PMSM Driven-Based Flexible Manipulator Systems With Input Saturation and Angular Velocity Constraint,” IEEE Access, vol. 11, pp. 82351 – 82361, 2023, doi: 10.1109/ACCESS.2023.3301147.

[3] Y. Liu, B. Song, X. Zhou, and Y. Gao, “An Adaptive Torque Observer Based on Fuzzy Inference for Flexible Joint Application,” Machines, vol. 11, 2023, Art. no. 794; doi: 10.3390/machines11080794.

[4] D. Youshuang and X. Xi, “Research on Control Strategies of Flexible Load Driven by PMSM,” National Natural Science Foundation of China under Project 51177084, 2014, doi: 10.1109/CCDC55256.2022.10034285.

[5] T. Orlowska-Kowalska, K. Szabat, and M. Dybkowski, “Neuro-Fuzzy Adaptive Control of the IM Drive with Elastic Coupling,” 2008 13th International Power Electronics and Motion Control Conference, 2008, doi: 10.1109/EPEPEMC.2008.4635593.

[6] B. Siciliano and O. Khatib, Springer Handbook of Robotics, Springer-Verlag Berlin Heidelberg, 2008.

[7] A. -C. Huang and Y. -C. Chen, “Adaptive multiple-surface sliding control for non-autonomous systems with mismatched uncertainties,” Department of Mechanical Engineering, National Taiwan University of Science and Technology, 2004, doi: 10.1016/j.automatica.2004.06.007.

[8] D. C. Tran, V. H. Roan, D. C. Hoang, T. H. Tran, T. T. H. Pham, and T. L. Nguyen, “Improving control quality of PMSM drive systems based on adaptive fuzzy sliding control method,” IJPEDS, vol. 13, no. 2, pp. 835-845, June 2022, doi: 10.11591/ijpeds.v13.i2.pp835-845.

[9] P. Ren, J. W. Zhu, Y. Zhao, Y. P. Liu, Z. Jing, and S. K. Zhang, “Speed Control Strategy for Switched Reluctance Motor Based on Dual Sliding Mode Controller,” Proc. CSEE, vol. 44, pp. 4501–4513, 2024, doi: 10.13334/j.0258-8013.pcsee.231331.

[10] D. Ginoya, P. D. Shendge, and S. B. Phadke, “Disturbance observer based sliding mode control of nonlinear mismatched uncertain systems,” Communications in Nonlinear Science and Numerical Simulation, vol. 26, no. 1–3, pp. 98-107, September 2015, doi: 10.1016/j.cnsns.2015.02.008.

[11] Y.Wang, H. Yu, J. Yu, H. Wu, and X. Liu “Trajectory Tracking of Flexible-Joint Robots Actuated by PMSM via a Novel Smooth Switching Control Strategy,” Appl. Sci., vol. 9, 2019, Art. no. 4382; doi: 10.3390/app9204382.

[12] D. Łuczak, “Mathematical model of multi-mass electric drive system with flexible connection,” 19th International Conference on Methods and Models in Automation and Robotics (MMAR), 2014, doi: 10.1109/MMAR.2014.6957420.

DOI: https://doi.org/10.34238/tnu-jst.12405

Refbacks

There are currently no refbacks.



Remember me