Title :
FPGA-Based Adaptive Backstepping Sliding-Mode Control for Linear Induction Motor Drive
Author :
Lin, Faa-Jeng ; Chang, Chih-Kai ; Huang, Po-Kai
Author_Institution :
Nat. Dong Hwa Univ., Hualien
fDate :
7/1/2007 12:00:00 AM
Abstract :
A field-programmable gate array (FPGA)-based adaptive backstepping sliding-mode controller is proposed to control the mover position of a linear induction motor (LIM) drive to compensate for the uncertainties including the friction force. First, the dynamic model of an indirect field-oriented LIM drive is derived. Next, a backstepping sliding-mode approach is designed to compensate the uncertainties occurring in the motion control system. Moreover, the uncertainties are lumped and the upper bound of the lumped uncertainty is necessary in the design of the backstepping sliding-mode controller. However, the upper bound of the lumped uncertainty is difficult to obtain in advance of practical applications. Therefore, an adaptive law is derived to adapt the value of the lumped uncertainty in real time, and an adaptive backstepping sliding-mode control law is the result. Then, an FPGA chip is adopted to implement the indirect field-oriented mechanism and the developed control algorithms for possible low-cost and high-performance industrial applications. The effectiveness of the proposed control scheme is verified by some experimental results. With the adaptive backstepping sliding-mode controller, the mover position of the FPGA-based LIM drive possesses the advantages of good transient control performance and robustness to uncertainties in the tracking of periodic reference trajectories.
Keywords :
adaptive control; field programmable gate arrays; induction motor drives; linear induction motors; machine control; motion control; position control; robust control; uncertainty handling; variable structure systems; FPGA-based control; adaptive backstepping control; control algorithms; dynamic model; friction force; indirect field-oriented mechanism; linear induction motor drive; lumped uncertainty; motion control system; mover position control; sliding-mode control; transient control performance; uncertainties compensation; Adaptive arrays; Adaptive control; Backstepping; Field programmable gate arrays; Force control; Induction motor drives; Programmable control; Sliding mode control; Uncertainty; Upper bound; Adaptive backstepping control; field-programmable gate array (FPGA); indirect field-oriented control; linear induction motor (LIM); sliding-mode control;
Journal_Title :
Power Electronics, IEEE Transactions on
DOI :
10.1109/TPEL.2007.900553