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When these equations are adapted for BLDC motor contro system shown in Fig. 2 Figure 2. Fractional sliding mode controller block diagram 4. Experimental Result In (34), if the derivative term expressed as a fractional order.

Figure 2 When these equations are adapted for BLDC motor contro system shown in Fig. 2 Figure 2. Fractional sliding mode controller block diagram 4. Experimental Result In (34), if the derivative term expressed as a fractional order.

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In this section, the mathematical equations of designed controller and its block diagram is given. The goal is to drive states of the system given (9),(10) in the set Sdefined by;
In this section, the mathematical equations of designed controller and its block diagram is given. The goal is to drive states of the system given (9),(10) in the set Sdefined by;
Figure 1. Continuous sliding mode controller block diagram The value of the control at the instant t is calculated from the value at the timet™ + A and the weighed sum of the control error € and its time derivative. Control (33) is continuous function everywhere except in the points of discontinuity of the function é(x,t). When these equations are adapted for BLDC motor control system shown in Fig. 1, the following equation can be written for the control loop as
Figure 1. Continuous sliding mode controller block diagram The value of the control at the instant t is calculated from the value at the timet™ + A and the weighed sum of the control error € and its time derivative. Control (33) is continuous function everywhere except in the points of discontinuity of the function é(x,t). When these equations are adapted for BLDC motor control system shown in Fig. 1, the following equation can be written for the control loop as
Figure 8. Fractional-order sliding mode 10 rpm trapezoidal ref. Figure 5. Continuous sliding mode 10 rpm trapezoidal ref. IJAMEC, 2016, 4(Special Issue), 314-318 | 317 This journal is © Advanced Technology & Science 2013
Figure 8. Fractional-order sliding mode 10 rpm trapezoidal ref. Figure 5. Continuous sliding mode 10 rpm trapezoidal ref. IJAMEC, 2016, 4(Special Issue), 314-318 | 317 This journal is © Advanced Technology & Science 2013
On the other hand, FOSM have better performance than CSM when the trapezoidal wave reference sudden changes. The trapezoidal speed reference at 1000 rpm in Fig. 9 and Fig. 10 also shows the success of the FOSM. Both controllers have similar reference tracking capabilities and have similar rise time at the starting point of trapezoidal wave. CSM was failed to show adequate performance at the moments of suddenly changes. FOSM has been more successful than CSM at the any sudden change after the start. The results for sinusoidal speed reference at 1000 rpm are given in Fig. 4 and Fig. 7. Due to chosen a reference signal which is slowly changing over time the tracking errors are close to each other. However, FOSM gives 0.4 sec rise time while CSM is 0.6 sec which is obviously much better. SE: ee, MEE SOME ME SCE mE | ee ee era act. eee ees ae
On the other hand, FOSM have better performance than CSM when the trapezoidal wave reference sudden changes. The trapezoidal speed reference at 1000 rpm in Fig. 9 and Fig. 10 also shows the success of the FOSM. Both controllers have similar reference tracking capabilities and have similar rise time at the starting point of trapezoidal wave. CSM was failed to show adequate performance at the moments of suddenly changes. FOSM has been more successful than CSM at the any sudden change after the start. The results for sinusoidal speed reference at 1000 rpm are given in Fig. 4 and Fig. 7. Due to chosen a reference signal which is slowly changing over time the tracking errors are close to each other. However, FOSM gives 0.4 sec rise time while CSM is 0.6 sec which is obviously much better. SE: ee, MEE SOME ME SCE mE | ee ee era act. eee ees ae
In the second experiment, trapezoidal wave speed reference at 10 rpm is given for control of BLDC motor. The trapezoidal wave reference is important to test the performance of the controllers for sudden changes. It can be seen from Fig. 5 and Fig. 8 that, CSM gives 0.6 sec rise time while CSM is 0.5 sec. Figure 4. Continuous sliding mode 1000 rpm sinus ref.
In the second experiment, trapezoidal wave speed reference at 10 rpm is given for control of BLDC motor. The trapezoidal wave reference is important to test the performance of the controllers for sudden changes. It can be seen from Fig. 5 and Fig. 8 that, CSM gives 0.6 sec rise time while CSM is 0.5 sec. Figure 4. Continuous sliding mode 1000 rpm sinus ref.
Figure 9. Continuous sliding mode 1000 rpm trapezoidal ref.
Figure 9. Continuous sliding mode 1000 rpm trapezoidal ref.
Figure 10. Fractional-order sliding mode 1000 rpm trapezoidal ref.
Figure 10. Fractional-order sliding mode 1000 rpm trapezoidal ref.
Related topics:
Computer ScienceSliding mode controlDc MotorRobustness (evolution)
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