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IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005 1137
Due to these advantages LIMs have been widely used in Moreover, the developed VHDL code can be easily
industrial processes and also in transportation applications modified and implemented to control any type of AC
[11, 12]. The driving principles of a LIM are similar to those motors as well.
of a traditional rotary induction motor (RIM), but its
control characteristics are more complicated than for a 2 Indirect field-oriented linear induction motor
RIM, and the motor parameters are time-varying due to drive
changes in the operating conditions, such as the speed of the
mover, temperature and rail configuration. Moreover, there The primary (mover) of the adopted three-phase LIM is
are significant parameter variations in the reaction rail simply a cut open and rolled flat rotary-motor primary. The
resistivity, the dynamics of the airgap, slip frequency, phase secondary usually consists of a sheet conductor using
unbalance, saturation of the magnetising inductance, and aluminium with an iron back for the return path of the
end-effects [10, 11]. Therefore, its mathematical model is magnetic flux. The primary and secondary form a single-
difficult to derive completely. Considerable research has sided LIM. Moreover, a simple linear encoder is adopted
been performed on creating models of the dynamic for the feedback of the mover position.
performance of a LIM which have taken many of the The dynamic model of the LIM is modified from the
significant variations into consideration [9–13]. However, traditional model of a three-phase, Y-connected induction
there still exist uncertainties, including of unpredictable motor in a synchronous rotating reference frame and can be
plant parameter variations, external load disturbances, described by the following differential equations [10, 13]:
unmodelled and nonlinear dynamics observed in the
p Rs 1s np Lm p
practical application of a LIM that need to be considered. i_qs ¼ ve ids þ iqs vldr
h sLs sTr sLs Lr h
Furthermore, since the operation of a LIM involves two
contacting bodies, a frictional force is inevitably among the Lm 1
þ lqr þ Vqs ð1Þ
forces of motion. In addition, this friction characteristic sLs Lr Tr sLs
may be easily varied due to changes in normal forces
in contact, and also the temperature and humidity. In a Rs 1s p Lm
closed-loop control system, the frictional force results in a i_ds ¼ þ ids þ ve iqs þ ldr
sLs sTr h sLs Lr Tr
steady-state error, a limit cycle and a low bandwidth
[14, 15]. Unfortunately, friction is a natural phenomenon np Lm p 1
þ vlqr þ Vds ð2Þ
that is quite difficult to model, and it is not completely sLs Lr h sLs
understood. Therefore, it is impossible to obtain a precise p
Lm p 1
friction model for practical applications. However, a l_ qr ¼ iqs ve np v ldr lqr ð3Þ
dynamic model of a LIM can be obtained by modifying Tr h h Tr
the dynamic model of a RIM at certain low speeds since a p
Lm 1 p
LIM can be visualised as an unrolled RIM. Thus, field- l_ dr ¼ ids ldr þ ve np v lqr ð4Þ
oriented control [13, 16] can be adopted to decouple the Tr Tr h h
dynamics of the thrust force and the flux amplitude of the
Fe ¼ Kf ðldr iqs lqr ids Þ ¼ M v_ þ Dv þ FL ð5Þ
LIM.
There have been many studies that have investigated the where Tr ¼ Lr/Rr, s ¼ 1ðL2m =Ls Lm Þ,
Kf ¼ 3np pLm =ð2hLr Þ
relationship between sliding-mode control and fuzzy control and Rs is the winding resistance per phase, Rr is
in an attempt to combine these two techniques. Yager and the secondary resistance per phase referred primary, Lm is
Filev [17] determined fuzzy rules for sliding-mode condi- the magnetising inductance per phase, Lr is the secondary
tions. Wu and Liu [18] used the sliding modes to determine inductance per phase, Ls is the primary inductance per
the best values for parameters in fuzzy control rules that phase, ve is the synchronous linear velocity, v is the mover
were used to improve the robustness of the fuzzy control. linear velocity, ldr, lqr are the d-axis and q-axis secondary
A Lyapunov function and a boundary layer have been flux, ids, iqs are the d-axis and q-axis primary current, Vqs,
employed to satisfy the reaching condition and to avoid Vds are the d-axis and q-axis primary voltage, Tr is the
chattering, respectively. Liu and Lin [19] used a fuzzy secondary time-constant, s is the leakage coefficient, Fe
controller to adjust the sliding surface of a sliding-mode is the electromagnetic force, Kf is the force constant, FL is
controller. A fuzzy sliding-mode controller is investigated in the external force disturbance, M is the total mass of the
Lin and Chiu [20] in which a simple fuzzy inference moving element, D is the viscous friction and iron-loss
mechanism is used to estimate the upper bound on the coefficient, h is the pole pitch and np is the number of pole
uncertainties for the position control of a permanent- pairs.
magnet synchronous motor. In an ideally decoupled induction motor, the secondary
The motivation of this study is to design a suitable flux linkage axis is forced to align with the d-axis. It follows
control scheme to confront the uncertainties that exist in a that:
LIM drive including the frictional force using a FPGA chip
to allow possible low-cost and high-performance industrial lqr ¼ 0; l_ qr ¼ 0 ð6Þ
applications. Due to its robustness and case of implimenta- Using (6), the desired secondary flux linkage in terms of ids
tion, a fuzzy sliding-mode position controller is adopted in can be found from (4) as:
this study to control the mover position of an indirect field-
oriented control LIM drive. The proposed control algo- Lm =Tr
ldr ¼ ids ð7Þ
rithms are realised on a 24 MHz FPGA (XC2V1000) with a s þ 1=Tr
1000 000 gate count and 10 240 flip-flops from Xilinx, Inc where s is the Laplace operator. Moreover, using (3) the
using VHDL. The design and implementation of the feedforward slip velocity signal can be estimated using ldr
FPGA-based control IC will be described in detail. shown in (7) and iqs as follows:
Compared with a DSP or a PC-based fuzzy controller,
the merits of the FPGA-based fuzzy controller are a parallel Lm
vsl ¼ iqs ð8Þ
processing and small size in addition to a low cost. Tr ldr
1138 IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005
The block diagram of an indirect field-oriented LIM system smaller than the mechanical time-constant, the electromag-
is shown in Fig. 1, where d is the position of the mover; d is netic force shown in (5) can be reasonably represented by
the position command; v is the velocity command; ids is the the following equations:
command of flux current; ids is the control effort. The
indirect field-oriented LIM system consists of an LIM, a Fe ¼ KF iqs ð10Þ
ramp comparison current-controlled PWM voltage source
inverter (VSI), an indirect field-oriented mechanism, a 3 p L2
coordinate translator, cos ye and sin ye generator, where ye is KF ¼ np m ids ð11Þ
2 h Lr
the position of the secondary flux, a speed control loop, and
a position control loop. Three-phase current commands, A curve fitting technique based on a step response is applied
ia ; ib and ic are generated from the coordinate translator to find the drive model off-line at the nominal case (FL ¼ 0).
for the ramp comparison current controller. The LIM used The results are (on a scale of 14.9717 (m/s)/V)
in this drive system is a three-phase Y-connected two-pole
3 KW 60 Hz 180 V/14.2 A type. The detailed parameters of KF ¼ 33:73 N=A; M ¼ 2:78 kg ¼ 41:6213 Ns=V;
the LIM are: D ¼ 36:0455 kg=s ¼ 539:6624 N=V ð12Þ
ids ¼ 2:35 A; Rs ¼ 5:3685O; Rr ¼ 3:5315 O; h ¼ 0:027 m The ‘F’ symbol represents the system parameters in the
Lm ¼ 0:024 19 H; Ls ¼ 0:028 46 H; Lr ¼ 0:028 46 H ð9Þ nominal condition. Although the electromagnetic force
can be simplified as (10) via the field-oriented control,
By use of the indirect field-oriented control technique and considering the variations of system parameters and
with the fact that the electrical time-constant is much external nonlinear and time-varying disturbance including
+
three-phase
220 V L PWM
rectifier C LIM
inverter
60 Hz
−
encoder
Ta Tb Tc
ia
ramp encoder
comparison signal
current
control ib
coordinate
limiter translator
+ + i*qs
d* position v* speed i*qs cos e + i*ds sin e
∑ ∑
controller controller
− −
d v
− 1 (i*qs cos e + i*d s sin e ) − √3 (−i*qs sin e + i*d s cos e )
2 2
sin e
cos e
e generator
Lm vsl + ve e e
i*ds ∑ integrator
Tr d r h sin/cos
+ table
v
encoder
d interface
IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005 1139
frictional force, the LIM drive system is a nonlinear time- and B for the sliding-mode position controller as follows
varying system in practical applications. [20]:
Z t
3 Fuzzy sliding-mode control system SðtÞ ¼ C X ðtÞ ðA þ BKÞX ðtÞdt ¼ 0 ð21Þ
0
The proposed sliding-mode position controller is shown in where C is set as a positive constant matrix, and K is a
Fig. 2. The state variables are defined as follows: state-feedback gain matrix.
From (21), if the state trajectory of system (19) is trapped
x1 ðtÞ ¼ d d ð13Þ _ ¼ 0, then
on the switching surface (21), namely SðtÞ ¼ SðtÞ
x_ 1 ðtÞ ¼ d_ d_ ¼ d_ x2 ðtÞ ð14Þ the equivalent dynamic of system (19) is governed by the
following equation:
where x2 ðtÞ ¼ d_ ¼ v. Then a LIM drive system can be
represented in the following state-space form: X_ ðtÞ ¼ ðA þ BKÞX ðtÞ ð22Þ
x_ 1 ðtÞ 0 1 x1 ðtÞ 0 It is obvious that the position error x1(t) will converge to
¼ þ i ðtÞ
x_ 2 ðtÞ 0 D=M x2 ðtÞ KF =M q zero exponentially if the pole of system (22) is strategically
located on the left-hand plane. Thus, the overshoot
0 1 _
þ F þ d ð15Þ phenomenon will not occur, and the system dynamic will
1=M L 0
behave as a state-feedback control system. Based on the
The above equation can be represented as: developed switching surface, a switching control law which
satisfies the hitting condition and guarantees the existence of
X_ ðtÞ ¼ AX ðtÞ þ BU ðtÞ þ CFL þ Gd_ ð16Þ the sliding-mode is then designed. Now a position controller
where is proposed in the following [20]:
0 1 0 0
A¼ ;B¼ ;C¼ ; U ðtÞ ¼ KX ðtÞ f sgnðSðtÞÞ ð23Þ
0 D=M K F =M 1=M
where sgn( ) is a sign function and f is defined as 7E(t)7r f.
1
G¼ ; U ðtÞ ¼ iqs ðtÞ In the general sliding-mode control, the upper bound of
0 the uncertainties, which includes parameter variations and
Consider (15) with uncertainties: external load disturbances, must be available. However, the
bound of the uncertainties is difficult to obtain in advance
X_ ðtÞ ¼ ðA þ DAÞX ðtÞ þ ðB þ DBÞU ðtÞ for practical applications. Therefore, a fuzzy sliding-mode
þ CðFL þ ff ðvÞÞ þ G d_ ð17Þ controller is proposed here, in which a fuzzy inference
mechanism is used to estimate the upper bound of the
where DA and DB are denoted as the uncertainties lumped uncertainty. The fuzzy inference mechanism can
introduced by system parameters M and D. Moreover, construct the estimation model of the upper bound of
ff(v) is the frictional force. Considering Coulomb friction, the lumped uncertainty. Compared with a conventional
viscous friction and the Stribeck effect, the frictional force estimator, the fuzzy inference mechanism uses prior
can be formulated as follows [14, 15]: expert knowledge to accomplish the control object more
2
ff ðvÞ ¼ FC sgnðvÞ þ ðFS FC Þeðv=vs Þ sgnðvÞ þ Kv v ð18Þ efficiently.
Replace f by Kf in (23), the following equation can be
where FC is the Coulomb friction; FS is the static friction; vS obtained:
is the Stribeck velocity parameter; Kv is the coefficient of
viscous friction; sgn( ) is a sign function. Reformulate (17), U ðtÞ ¼ KX ðtÞ Kf sgnðSðtÞÞ ð24Þ
then: where Kf is estimated by a fuzzy inference mechanism.
X_ ðtÞ ¼ AX ðtÞ þ BðU ðtÞ þ EðtÞÞ ð19Þ Because the data manipulated in the fuzzy inference
mechanism is based on fuzzy set theory, the associated
where E(t) is call the lumped uncertainty and is defined by fuzzy sets involved in the fuzzy control rules are defined as
EðtÞ ¼ B þ DAX ðtÞB þ DBU ðtÞ follows:
N: negative Z: zero P: positive
þ Bþ C½FL þ ff ðvÞ þ Bþ G d_ ð20Þ NH: negative huge NB: negative big NM: negative medium
and B+ (BTB)1BT is the pseudo-inverse. According to NS: negative small Z: zero PS: positive small
(19), an integral-operation switching surface is designed PM: positive medium PB: positive big PH: positive huge
directly from the nominal values of system parameters A Since only three fuzzy sets, N, Z and P, are defined for S
and S,_ the fuzzy inference mechanism only contains nine
rules. The resulting fuzzy inference rules are as follows
S(t )
[20]:
fuzzy inference
mechanism ⋅
S(t ) Rule 1: IF S is P and S_ is P THEN Kf is NH
Kf Rule 2: IF S is P and S_ is Z THEN Kf is NB
+ i *qs d
Rule 3: IF S is P and S_ is N THEN Kf is NM
d* sliding-mode
_
Σ
position controller
field-oriented control LIM Rule 4: IF S is Z and S_ is P THEN Kf is NS
d v Rule 5: IF S is Z and S_ is Z THEN Kf is ZE
s Rule 6: IF S is Z and S_ is N THEN Kf is PS
Rule 7: IF S is N and S_ is P THEN Kf is PM
Rule 8: IF S is N and S_ is Z THEN Kf is PB
Fig. 2 Fuzzy sliding-mode control system Rule 9: IF S is N and S_ is N THEN Kf is PH
1140 IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005
The fuzzy output Kf can be calculated by the centre of between the FPGA and D/A converter. Multiplexing is
area defuzzification as: implemented in the data bus to form the 12 bits of data. The
2 3 12 bits of data are divided into a least significant 8-bit latch
w1
6 . 7 and a most significant 4-bit latch. The 4-bit control bus
P9 ½ c1 . . . c9 4 .. 5 controls the loading of data to the input latches of the D/A
wi ci
w9 converter. The entire I/O port for this chip includes two pins
Kf ¼ i¼19 ¼ ¼ tT W ð25Þ for the input ports and 36 pins for the output port.
P P9
wi wi Moreover, 8281 out of 10 240 flip-flops (80%) have been
i¼1 i¼1 used in the FPGA chip.
where t ¼ ½c1 ; . . . ; c9 , c1 through c9 are the centre of the
membership functions of Kf; and
4.1 Encoder interface module
½ w1 ; . . . ; w9 A block diagram of the encoder interface is shown in
W¼
P9 Fig. 4a, which consists of the timing control, two digital
wi filters, a decoder, an up-down counter, two clock (CLK)
i¼1
generators, a register, a command generator and two
is a firing strength vector. adders. The function of the encoder interface is to obtain the
position and speed values of the mover. The resolutions of
4 Circuit design on a FPGA chip the encoder are 0.1 m¼2000 digital value and 1.5915 m/s ¼ 44
digital value at a sampling frequency of 732 Hz. The scaling
The block diagram of the FPGA-based control system for a 1 V ¼ 14.9717 m/s is obtained since the specification is
LIM drive using a current-controlled technique is shown in designed as 1 V ¼ 409 digital value. The pulse count signal
Fig. 3. The current-controlled PWM VSI is implemented by PLS and the rotating direction signal DIR are obtained
an IPM switching component (MUBW30-06A7) manufac- using the A, B pulse input signals from the decoder through
tured by IXYS Co. with a switching frequency of 15 KHz. two digital filters. The position signal d can be obtained
The timing control module, encoder interface module, the using the PLS and DIR signals through the up-down
field-oriented control module and the fuzzy sliding-mode counter. Moreover, the command generator includes
control module are realised on the FPGA chip. Three-phase periodic sinusoidal intellectual property (IP) and periodic
current commands, ia ; ib and ic are generated from the step IP in order to generate the position command d . The
coordinate translator and sent to three D/A converters for x1 signal results from the difference between the position
the ramp comparison current control. The adopted D/A command d and the position signal d. Furthermore, the x2
converters are 12 bits in size with an output voltage of signal is the velocity signal v, and results from the difference
75 V. There are a 4-bit control bus and an 8-bit data bus between the position signal d and the time delay of d, ddelay.
+
three- phase
220 V L PWM
rectifier inverter LIM
60 Hz
− C
encoder
FPGA Ta Tb Tc
ic* controller
12
36
12 v e coordinate D/A
generator translator converter
12
x1 ⋅
S 12
command x1 12
x2 integral switching surface
2
generator generator 12
S 12
Kf 12
fuzzy inference
mechanism
encoder
12
x1 i *qs
interface sliding-mode
x2
12 position controller
IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005 1141
4.2 Field-oriented control module and five adders, and sent to three D/A converters for the
The field-oriented control mechanism shown in Fig. 4b is ramp comparison current controller. Each D/A converter
composed of a ye generator, a coordinate translator, a cos ye needs 12 pins in the output port.
and sin ye generator and timing control. The ye is obtained
using the estimated slip velocity signal vsl based on (8), the 4.3 Integral switching surface module
control effort signal iqs , the velocity signal v and an A block diagram of the integral switching surface is shown
integrator. Then, sin ye and cos ye signals are obtained in Fig. 4c. First define:
through the cos ye and sin ye generator. Moreover, three- T T
phase current commands, ia ; ib and ic are generated from g1 k
C¼ ; K¼ 1 ð26Þ
the coordinate translator, which consists of six multipliers g2 k2
timing control
encoder interface module
x 1 generator
command 12 d*
+
generator
x1
encoder interface 12
adder
d
12
−
A pulse digital
filter DQ
>C DIR
d delay
encoder B pulse digital up-down 12
d
12
signals filter DQ decoder counter register −
2
PLS
>C
v x2
12
adder
732 Hz CLK
generator
timing control
field- oriented control module
coordinate
i *qs 12 i *qs cose
e generator translator 12
12
multiplier
cose
v n v i *qs sin e
v
12
12 p sin e & cose generator i *qs 12
12 multiplier + ve e 12
multiplier 12
12 sin e
12 adder 12
np multiplier + e sin e
+ sin/cos 12 i *ds 12 i *ds cose
integrator 12
12 cose multiplier
i *qs table 12
cose
12
h +
12 12
i *ds 12
i *ds sin e
12
12
multiplier 12
sin e
i *qs
12
v sl i *qs cos e 12
i *qs cose 12 + i *a
T 12
i *ds r 12 divider
12
adder
i *ds sin e +
>
i *qs sine 12 12
24 MHz i *qs cose + − i *b
12
CLK adder adder 12
i *ds sin e
12
+ 12 multiplier 12
−
i *ds cos e 12 1/2
12
− i *c
i *qs sin e − 12 12
adder adder
12 multiplier
i *ds cose
12
+
12
+
i *ds sine 12
3/2
b
Fig. 4 Circuits designed on the FPGA
a Encoder interface module
b Field-oriented control module
c Integral switching surface module
d Sliding-mode position control module
e Membership functions of the fuzzy sets
f Fuzzy inference mechanism module
1142 IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005
timing control
1 12
1 x 1
12
12 multiplier +
x1 adder
+
12
2 12 2 x 2 12
12
multiplier
x2 + S
adder
−
12 2 12 12 12
x1
multiplier
x1 12
2 x 1 12 Sdelay
register
1 +
12
1 x 2 12 12
x2 12
multiplier +
x2 12
12
− adder
integrator
+ + − ·
adder S 12
12 +
3 12 3 x 2
12
multiplier
x2 12
timing control
4 12
multiplier 12
x1 12
+ 12
adder
+ 4 x 1 + k 2 x 2 i *qs
k2 12 + 12
x1 12
adder
12 x2 12 multiplier −
S (t)
f
x2 S(t) +
12 12
comparator or
S S
12 S (t) 12
12 Kf
0 12 S(t) +
f or K f
multiplexer
12 S 0 12
12 absolute 12
value 12
+ S +
adder
+ 12
12 divider
multiplier 24 MHz
12 >
f or K f CLK
Fig. 4 Continued
For the purpose of scaling (1 V ¼ 14.9717 m ¼ 409 digital 4.4 Sliding-mode position control module
value), x1 should be divided by 732. Then, define a ¼ 1/732, A block diagram of the sliding-mode position control is
and (21) can be rewritten as follows: shown in Fig. 4d. First, (23) is rewritten as follows:
Z t
U ¼ b4 x1 þ k2 x2 f sgnðSðtÞÞ ð28Þ
SðtÞ ¼ b1 x1 þ g2 x2 ðb2 x1 g1 x2 þ b3 x2 Þdt ð27Þ
0
where b4 ¼ ak1. Then, to avoid the chattering phenomena,
where b1 ¼ ag1, b2 ¼ ag2 k1 K F =M and b3 ¼ g2 ðk2 K F DÞ=M. the sign function in the sliding-mode control is replaced by
Therefore, five multipliers, four adders, an integrator and a the following function:
register are needed to implement (27). Moreover, the S_
SðtÞ
signal can be obtained using the difference between signal S ð29Þ
and its delay Sdelay. jSðtÞj þ d
IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005 1143
S , S
N Z 2047 P
−2047 0 2047 ·
S,S
K
f
NH NB NM NS ZE PS PM PB PH
c1 c2 c3 c4 c5 c6 c7 c8 c9 K
f
−2047 0 2047
e
timing control
Fig. 4 Continued
where mS, mS_ and mKf are the respective membership grades. The
0; jSðtÞj Z membership functions are designed as a symmetrically
d¼
d0 ; jSðtÞjoZ triangular form and c1 through c9 are the centre of the
membership functions of Kf. Their universe of discourses
and d0 and Z are positive constants. Moreover, the control are all assigned to be [2047, 2047] and the membership
effort iqs ðtÞ can be obtained using (28) and (29). grades of mS and mS_ are assigned as [0, 2047]. A block
diagram of the fuzzy inference mechanism is shown in
4.5 Fuzzy inference mechanism module Fig. 4f including the timing control, fuzzification, firing
The membership functions for the fuzzy sets corresponding strength calculation and defuzzification circuits. The
to the switching surface S, its derivative S_ and upper bound membership grades of the membership functions of S and
of the lumped uncertainty Kf are defined in Fig. 4e where S_ can be obtained using the fuzzification circuit. The vN1,
1144 IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005
vZ1 and vP1 represent the membership grades of the fuzzy These parameters are chosen to achieve the best transient
sets N, Z and P of S, respectively. Moreover, vN2, vZ2 and control performance in the experimentation considering the
vP2 represent the membership grades of the fuzzy sets N, Z requirement of stability and possible operating conditions.
_ respectively. Furthermore, the firing strengths of
and P of S, The control objective is to control the mover to move
the linguistic rules w1 to w9 are obtained according to the periodically according to reference trajectories. Two test
min operator, which is mainly consists of the comparator. conditions are provided, which are the nominal condition
In addition, Kf is resulted using the defuzzification circuit and the parameter variation condition. In the experimenta-
with w1 to w9 as the inputs. The defuzzification method is tion, the parameter variation condition is the addition of
based on (25). Therefore, the defuzzification circuit includes one iron disk with a 8.34 kg weight to the mass of the
nine multipliers, two adders and one divider. mover.
Some experimental results are provided to demonstrate
5 Experimental results the effectiveness of the proposed FPGA-based control
system. First, the experimental results of the sliding-mode
The parameters of the sliding-mode controller are given as control system are depicted in Figs. 5 and 6. The tracking
follows: responses due to a periodic step command at the nominal
k1 ¼ 900; k2 ¼ 180; g1 ¼ 2; g2 ¼ 2 ð30Þ condition and parameter variation condition are depicted in
position
0.1 m
mover command
position 0.05 m
0m 0m
position mover
command position −0.05 m
1s 2s
a a
0A
0A
2A 1s 2A 2s
b b
position
0.1 m command
mover
position 0.05 m
0m position 0 m mover
command position −0.05 m
1s 2s
c c
0A 0A
2A 1s 2A 2s
d d
Fig. 5 Experimental results for the sliding-mode control system Fig. 6 Experimental results for the sliding-mode control system
for a periodic step command for a periodic sinusoidal command
a Mover position at the nominal condition a Mover position at the nominal condition
b Control effort at the nominal condition b Control effort at the nominal condition
c Mover position at the parameter variation condition c Mover position at the parameter variation condition
d Control effort at the parameter variation condition d Control effort at the parameter variation condition
IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005 1145
0.1 m 0.1 m
mover mover
position position
0m 0m position
position
command command
1s 1s
a d
0A 0A
2A 1s 2A 1s
b e
0V 0V
2V 1s 2V 1s
c f
Fig. 7 Experimental results for the fuzzy sliding-mode control system for a periodic step command
a Mover position at the nominal condition
b Control effort at the nominal condition
c Estimated upper bound of the lumped uncertainty at the nominal condition
d Mover position at the parameter variation condition
e Control effort at the parameter variation condition
f Estimated upper bound of the lumped uncertainty at the parameter variation condition
Figs. 5a and 5c; the associated control efforts are depicted in nonzero values of the estimated upper bound of the lumped
Figs. 5b and 5d. Moreover, the tracking responses due to a uncertainty at the nominal condition shown in Fig. 7c are
periodic sinusoidal command at the nominal condition and induced by the friction force and unmodelled uncertainty in
parameter variation condition are depicted in Figs. 6a and practical applications. From the experimental results, the
6c; the associated control efforts are depicted in Figs. 6b robust control performance of the proposed FPGA-based
and 6d. From the experimental results, the degraded fuzzy sliding-mode control system under the occurrence of
tracking responses shown in Figs. 5c and 6c are induced parameter variations at different trajectories are obvious
by the inappropriate selection of the lumped uncertainty owing to the on-line adjustment of the upper bound of the
bound. Although a large bound value of the lumped lumped uncertainty.
uncertainty can be selected to confront the uncertainties Since the three-phase coil of the adopted LIM is very
that exist in practical applications; it will result in a large prone to over-heating, from 251C at the beginning of the
chattering phenomena in the control effort. Now, the fuzzy experiment to 771C after 20 min of operation, the primary
sliding-mode control system is implemented to control the and secondary resistances inevitably change during the
mover position of the LIM drive. The experimental results experiments. To test the control performance of the
of the tracking responses, control efforts and estimation of proposed FPGA-based fuzzy sliding-mode controller due
the upper bound of the lumped uncertainty due to periodic to the changes in the resistances due to heating at a three-
step and sinusoidal commands at the nominal condition phase coil temperature at 771C, the experimental results of
and parameter variation condition are depicted in Figs. 7 the tracking responses, control efforts and estimation of the
and 8. Compared with the experimental results of the upper bound of the lumped uncertainty due to periodic
sliding-mode control system shown in Figs. 5c and 6c, the sinusoidal command at the nominal condition and para-
degraded tracking responses are improved as shown in meter variation condition are depicted in Fig. 9. From the
Figs. 7d and 8d using the fuzzy sliding-mode control scheme experimental results, the control efforts shown in Figs. 9b
at the parameter variation condition. Moreover, the and 9e are larger than the control efforts shown in Figs. 8b
1146 IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005
mover mover
position position
0.05 m 0.05 m
0m 0m
position position
command − 0.05 m command −0.05 m
2s 2s
a d
0A 0A
2A 2s 2A
2s
b e
0V 0V
2V 2V
2s 2s
c f
Fig. 8 Experimental results for the fuzzy sliding-mode control system for a periodic sinusoidal command
a Mover position at the nominal condition
b Control effort at the nominal condition
c Estimated upper bound of the lumped uncertainty at the nominal condition
d Mover position at the parameter variation condition
e Control effort at the parameter variation condition
f Estimated upper bound of the lumped uncertainty at the parameter variation condition
and 8e, which are the experimental results at a three-phase robust for parameter variations, external force disturbances
coil temperature at 251C, due to the changes of the primary and frictional forces at different trajectories. Finally, the
and secondary resistances. However, the tracking responses effectiveness of the proposed low-cost high-performance
are still robust considering the change of electrical FPGA-based LIM drive has been confirmed by experi-
parameters. mental results.
The major contributions of this study are: (i) the
successful derivation of the fuzzy sliding-mode control law
for the LIM drive system; (ii) the successful implementation
6 Conclusions
of the indirect field-oriented mechanism and fuzzy sliding-
This study has successfully demonstrated the design and mode controller in an FPGA chip; and (iii) the successful
implementation of a FPGA-based fuzzy sliding-mode application of the FPGA-based controller to control the
control system for the position control of the mover of a mover position of an LIM with robust control perfor-
LIM drive system. First, the dynamic model of an indirect mance.
field-oriented LIM drive was introduced. Then, a sliding-
mode control technique was designed. However, the upper
bound of the lumped uncertainty is necessary in the design
of the sliding-mode controller. To relax the requirement for 7 Acknowledgment
the upper bound of the lumped uncertainty, a fuzzy sliding-
mode controller with a fuzzy inference mechanism to adapt The authors would like to acknowledge the financial
the lumped uncertainty in real-time was proposed. The support of the National Science Council of Taiwan, ROC
proposed FPGA-based fuzzy sliding-mode control system is under grant NSC 93-2213-E-259-025.
IEE Proc.-Electr. Power Appl., Vol. 152, No. 5, September 2005 1147
mover mover
position position
0.05 m 0.05 m
0m 0m
position position
command − 0.05 m command −0.05 m
2s 2s
a d
0A 0A
2A 2s 2A
2s
b e
0V 0V
2V 2V
2s 2s
c f
Fig. 9 Experimental results for the fuzzy sliding-mode control system for a periodic sinusoidal command at a higher three-phase coil
temperature
a Mover position at the nominal condition
b Control effort at the nominal condition
c Estimated upper bound of the lumped uncertainty at the nominal condition
d Mover position at the parameter variation condition
e Control effort at the parameter variation condition
f Estimated upper bound of the lumped uncertainty at the parameter variation condition
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