22 7 Vol.22 No.7 Jul.

2002
2002 7 Proceedings of the CSEE 2002 Chin. Soc. for Elec.Eng.
0258-8013 2002 07-0013-05


1

2
,
1
1. 412008; 2. 410082
VARIABLE STRUCTURE INTELLIGENT CONTROL FOR
PM SYNCHRONOUS SERVO MOTOR DRIVE
ZHANG Chang-fan
1
, WANG Yao-nan
2
, He Jing
1
( 1. Department of Electrical Engineering, Zhuzhou Institute of Technology, Zhuzhou 412008, China ;
2. College of Electrical and Information Engineering, Hunan University, Changsha 410082,China)
ABSTRACT The variable structure control (VSC) of discrete
time systems based on intelligent control is presented in this
paper. A novel approach is proposed for the state estimation. A
linear observer is firstly designed. Then a neural network is
used for compensating uncertainty. The parameter of VSC is
adjusted on line by a neural network. The practical operating
results in permanent magnet synchronous motor (PMSM)
illustrate the effectiveness and practicability of the proposed
approach.
KEY WORDS variable structure control observer neural
networks intelligent control position control


-
-


-

TP13 A
1 INTRODUCTION
The variable structure control (VSC) falls into
two types: the continuous system and the discrete time
system. Various control algorithms have been
proposed in the study of VSC of a discrete time
863 863-511-9845-002 ;
01JjY3029
Project Supported by National 863 Foundation of China 863-511-
9845-002 ; Hunan Natural Science Foundation of China(01Jjy3029).
system
[1~3]
. Researches show that, in a discrete
system,the fewer the switching times of VSC output,
the less the chattering and the higher the degree of
accuracy.
However, the VSC of a discrete system so far
proposed is based on the supposed knowledge of the
systemic state, while the state of a system, in general,
is only partially known. And the controllers are
designed only on the basis of the output or the
estimated state of the system. Therefore, it is
undoubtedly significant to study how to realize the
VSC of a discrete time system.
This paper designs a linear observer for the
system certainty, and supplements it with a dynamic
neural network to compensate its uncertainty. An on-
line neural network parameter regulator is also
designed to guarantee a higher degree of observation
comprehensiveness and a lower degree of chattering.
The practical operating results in PMSM illustrate the
effectiveness and practicability of the proposed
approach.
2 DESCRIPTION OF THE SYSTEM
Consider the following discrete time system

'

+ +
) ( ) (
) ( ) ( ) 1 (
k CX k Y
k BU k AX k X
(1)
where X(k) R
n
U(k) R
m
Y(k) R
l
(C, A) is
observable, Y(k) is the systemic output and observable.
Apply the VSC strategy to it:
14 22
Define the switching function S=KX and
assume that KB is non-singular, thus the VSC signal is
obtained by using the discrete reaching law
[4]
, which
is described as follows
U(k) (KB)
-1
[K(I A)X(k) T sgnS(k)] (2)
in which is the diagonal matrix, and the diagonal
matrix element
i
> 0. T is the sampling period.
Implementing the above controlling strategy is
based on the measurability of the state parameter X,
whereas not all the state parameters in most real
controlling systems can be directly measured. Thus,
the state observer for system (1) is obtained as

'

+ + +
) (

) (

) (

) (

)] (

) ( [ ) (

) (

) 1 (

k X K k S
k X C k Y
k Y k Y L k U B k X A k X
(3)
Its controlling strategy is

'

) (

) (
)]

sgn ) (

) ( [ ) ( ) (

1
k U k U
(k S T k X A I K KB k U
(4)
Define observation error as e(k) X(k) X

(k) ,
then
e(k+1) (A LC)e(k) (5)
Where X

, Y

, S

and U

denote the observer s

states associated with the states X, Y, S and U.
Since (A, C) is observable and measurable, there
must exist a L matrix which restricts all the
eigenvalues of (A LC) in a unit circle, and thus
makes equation(5) converge to zero and be free of
connection with the system, with the initial value of
the observer, as well as with ) (

k U .
The choice of in equation (4) should satisfy
the entry condition of a sliding mode.
) 1 (

) 1 (

+ + k X K k S
) ( ) (

sgn ) (

k KLCe k S T k S + (6)
When > ) (
1
k KLCe T

, (7)
( S(k+1) S(k) sgn(S(k))< 0
There are two problems in the above design:
First, the comparative difference of the
constructed state observer s adaptability to the
variation of parameters can hardly be satisfactorily
given, especially when the uncertainty degree of the
parameters A, B and C is high
[5]
.
Second, in order to guarantee the tenability of
equation (7), the value of must be increased since
the observation error e is comparatively high when the
observer starts functioning.
From the sliding mode condition, the system
designed on the basis of equation (4) is movable only
within the switch zone with a bandwidth of T, but
can not converge to zero
[6]
. As a result, the increase of
the value of may lead to stronger chattering and
bigger static error.
A neural network is, therefore, introduced to
check the inaccuracy of measurement and to adjust on-
line the value of , so as to reduce the chattering of
the system. The structure of the whole system is
illustrated in Fig.1

Y(k)
VSC B
NNC
Z
-1
C Z
A
L
Z
-1
A
C

U(k)
X(k+1)
B
Z
-1
NNM
C
Y(k+1)
Yd
(k)
X(k)
~
X(k+1)
X(k+1)
~
Y(k+1)
~
Y(k)
Y(k)
^
X(k+1)
^ +
+
+
+
+
+
+
+
_
_
+
_

1 |
Fig. 1 Block diagram of the system
In the diagram, NNM and NNC are neural
networks, and VSC is the variable structure controller.
X
~
and Y
~
denote the compensated observer states
associated with the states X,Y.
3 DESIGN OF A NEURAL NETWORK
CONTROLLER
BP network structure is applied to NNM as well
as NNC, where a
i
is the input of the ith joint on the
network input layer, b
j
is the output of the jth joint on
the hidden layer, O
k
is the output of the kth joint on the
network output layer, W
ij
(k) is the link weight from the
ith joint on the input layer to the jth joint on the hidden
layer, W
jk
is the link weight from the jth joint on the
hidden layer to the kth joint on the output layer. The
input and output of neural networks are given by
[7]

'

2
1
1
1
) ( ), (
) ( ,
N
j
k k k j jk k
N
i
j j j i ij j
I f O k b W I
I f b a W I
(8)
7 15
The activation function is f(z)=1 (1+e
-z
). In the
following text, the superscripts M and C are used to
represent the network parameter of NNM and NNC
respectively.
3.1 Learning algorithm of the dynamic compen-
sating neural network NNM
In Fig.1, NNM is installed in parallel to the
observer to compensate dynamically the uncertainty of
controlled models through on-line learning of the
network.
Assume the input of NNM to be U(k), and the
output to be X(k+1), then the estimated state
response of the controlled object is
) 1 ( ) 1 (

) 1 (
~
+ + + + k X k X k X =
)) ( ( ) 1 (

k U h k X + + (9)
where )) ( ( k U h h(u
1
, u
2
, u
m
) displays the
nonlinear mapping of NNM.
The estimated output response of the model is
) 1 (
~
) 1 (
~
+ + k X C k Y (10)
Define the performance index function of NNM
as
E(k+1)
)] 1 (
~
) 1 ( [ )] 1 (
~
) 1 ( [
2
1
+ + + + k Y k Y k Y k Y
T
(11)
Adjust the weight of NNM with supervised
gradient descent method to reach a minimum E (k+1).
Each gradient is calculated as follows,
M
jk
M
k
M
jk
W
O
C k Y k Y
W
k E

+ +

+
T
)] 1 (
~
) 1 ( [
) 1 (
(12)
) ( ) 1 ( k b O O
W
O
M
j
M
k
M
k
M
jk
M
k

(13)
Calculate the value of
M
ij
W
k E

+ ) 1 (
in the same
way, the weight adjusting function of the whole
NNM is obtained as follows:

'

+ +
+
+

M
jk
M
k
M
j
M
j
M
j
M
k
M
k
M
k
M
i
M
j M
M
ij
M
ij
M
j
M
k M
M
jk
M
jk
W k b k b
k O k O C k Y k Y
k a k W k W
k b k W k W

)] ( 1 )[ (
)] ( 1 )[ ( )] 1 (
~
) 1 ( [
) ( ) ( ) 1 (
) ( ) ( ) 1 (
(14)
where ) (k a
M
i
=[u
1
(k) u
2
(k) u
m
(k)] is the input
vector of NNM,
M
k
O =X(k+1),
M
is a learning
rate.
3.2 Learning algorithm of the parameter adjus-
ting neural network NNC.
NNC neural network is used for the real-time
adjustment of the value of (k), so that it can change
dynamically according to the value of e(k),
Suppose the input of NNC is ) (
~
k X , the output is
(k). The system given in equation(4) is transformed
into
U(k) )] (
~
sgn )) (
~
( ) (
~
) ( [ ) (
1
k S k X g T k X A I K KB

(15)
Where )
~
,...
~
,
~
( )) (
~
( ) (
2 1 n
x x x g k x g k is the nonli-
near mapping function of the input and output of
NNC.
The link weights ) (k W
C
ij
and
C
jk
W are
respectively adjusted by using the supervised gradient
descent method, in which each gradient is calculated
as follows
) ( ]
) 1 ( ) 1 (

[
)] 1 (
~
) 1 ( [
) 1 (
k b
W
k X
W
k X
C k Y k Y
W
k E
C
j
C
k
C
jk
C
jk
T
C
jk

+
+

+
+ +

(16)
in which
C
u
M
ij
M
j
M
j
M
jk
M
k
M
k
T C
k
k W k b k b W k O
k O B C k Y k Y

+ + +
)] ( )) ( 1 )( ( )) ( 1 (
) ( [ )] 1 (
~
) 1 ( [

(17)
)] ( 1 )[ ( ) (
~
sgn ) (
1
k O k O k S T KB
C
k
C
k
C
u


(18)
In the same way, the value of
C
ij
W
k E

+ ) 1 (
can be
obtained, and the weight adjusting function of the
whole system of NNC is,

'

+
+

C
jk
C
k
C
j
C
j
C
j
i
C
j c
C
ij
C
ij
C
j
C
k c
C
jk
C
jk
W k b k b
k x k W k W
k b k W k W



)] ( 1 )[ (
) (
~
) ( ) 1 (
) ( ) ( ) 1 (
(19)
Where
c
is a learning rate.
4 APPLICATION
The machine model of a PM synchronous motor
can be described in the rotor rotating reference frame
as follows
[8]
:
d s q q q
p Ri v + + (20)
q s d d d
p Ri v + (21)
16 22
where
q q q
i L (22)
fd md d d d
I L i L + (23)
In these equations
d
v and
q
v are the d-q-axis
stator voltages,
d
i and
q
i are the d-q-axis stator
currents,
d
L and
q
L are the d-q-axis inductances,
d
and
q
are d-q-axis stator flux linkages, R and
s
are the stator resistance and inverter angular
frequency,
fd
I is the equivalent d-axis magnetising
current, and
md
L is the d-axis mutual inductance. The
electric torque is expressed as
2 / ] ) ( [ 3
q d q d q fd md e
i i L L i I L P T + (24)
The mechanical dynamic equation is given by
r r L e
Jp B T T + + (25)
In eqns. (24) and (25) P is the number of pole
pairs,
L
T is the load torque, B is the damping
coefficient,
r
is the rotor speed and J is the moment
of inertia. The inverter angular frequency is related to
the rotor speed as
r s
P (26)
The configuration of a field-oriented PM
synchronous motor drive system is shown in Fig.2,
which consists of a PM synchronous motor set (loaded
with PM DC generator/motor), a ramp comparison
current-controlled PWM voltages-source inverter, a
speed control loop and position control loop.
rectifier
PWM
inverter
PMSM
ramp compari son
current controller
co-ordinate
translator
speed
controller
position
controller

d/dt
AC

r i
*
d
+
_
_
+
absolute
encoder
controller
2 PMSM
Fig.2 Block Diagram of the PMSM
The basic principle in controlling a PM
synchronous motor drive is based on field orientation.
Since the magnetic flux from the permanent magnetic
rotor is fixed in relation to the rotor shaft position, the
flux position in the d-q co-ordinates can be determined
by the shaft-position sensor. In eqns. (23) and (24), if
0
d
i , the d-axis flux linkage
d
is fixed since
md
L
and
fd
I are constant for a PM synchronous motor,
and the electromagnetic torque
e
T is then proportional
to
q
i , which is determined by closed-loop control.
The state variables are defined as follows

'

r r
r d
x x
x


&
&
1 2
1
(27)
where
d
represent the command of rotor
position,
r
represent the position of rotor.
The model state equation of the PM synchronous
motor is described as follows
U
J k x
x
J B x
x
t m

1
]
1

+
1
]
1

1
]
1

1
]
1

0
0
1 0
2
1
2
1
&
&
(28)

*
q t e
i k T (29)
*
q
i is the torque current command,
*
q
i U ,
t
k is
the torque constant,
fd md t
I PL k 3 /2. When select the
sampling period T=0.01s, Nm/V 5 . 1
t
k , J=0.25Nms,
m
B =0.5Nms/rad, substitute date into equation (28), its
discrete equation can be obtained
[ ]

'

1
]
1

+
1
]
1

+
) ( 0 1 ) (
) (
0594 . 0
0003 . 0
) (
9802 . 0 0
0099 . 0 1
) 1 (
k x k
k U k k
y
x x
(30)
where [ ]
T
2 1
) ( ) ( ) ( k x k x k x
Equation (30) ignores nonlinearity, disturbance
and uncertainty. Assume that the real system state
equation is given by

[ ]

'

+ + +
) ( 0 1 ) (
) , ( ) 1 ( ) 1 (
k x k
k x k k
y
D x x
(31)
where D(x,k) represent system uncertainty and

1
1
]
1

1
]
1

+
+
2
2
2
1
)) 1 ( (
)) 1 ( (
1
1
0
0
) , (
k x
k x
e
e
k x

D (32)
where the parameter represents the existing
nonlinearity degree of real system.
Full order Luenberger observer given by eqn. (3)
in certainty system (30). The pole is 0.5t j0.5, the
feedback gain matrix L=[0.9802 45.5447]
T
. The
simulation initial state of the system is x(0)=[10 0]
T
,
K=[4 1] the command of rotor position is
d
=10
rad.NNM has 2 input, 2 output neurons, and a single
hidden layer with 22 neurons, NNC has 2 input, 1
output neurons, and a single hidden layer with 20
neurons, The network weight (0)
M
W and ) 0 (
C
W is
randomly changing within the range [0.5 0.5]. In
order to verify the robustness, different nonlinear
7 17
parameter (0.0~1.00) is selected. Fig.3 and Fig.4
show the results of experiments where the variable
structure intelligent control is used for PMSM.
Fig.3 show the switching line trajectory and
r

response curve when =0.0; while Fig.4 show the

switching line trajectory and
r
response curve when
=0.5.

x
2
(k)/ (rad/s)
-10
-20
0 4 8 x
1
(k)/(rad/s) 0 4 8 k
4
8

r
/rad
(a) switching line trajectory (b) response curve
0 12
3 =0.0
Fig.3 =0.0 system waveform

x
2
(k)/ (rad/s)
-10
-20
0 4 8 x
1
(k)/(rad/s) 0 4 8 k
4
8
r/rad
(a) switching line trajectory (b) response curve
0 12
4 =0.5
Fig.4 =0.5 system waveform
In Fig.3 and Fig.4, it is showed that the rotor
position can quickly track the step reference
commands and the system is robust to parametric
uncertainties. Stabilization can be obtained within
fewer than 12 samples.
Fig.5 shows the results of experiment under the
same condition as in Fig.4 but neural networks
compensator is not used (X(k+1)=0). Obviously, the
chattering phenomenon is increased and the rotor
position response is slower in Fig.5.

x
2
(k)/ (rad/s)
-10
-20
0 4 8 x
1
(k)/(rad/s) 0 4 8 k
4
8
r/rad
(a) switching line trajectory (b) response curve
12 0
5 =0.5 X(k+1) =0
Fig.5 =0.5 and X(k+1) =0 system waveform
5 CONCLUSION
In this paper, a discrete variable structure system
is studied, a novel designing approach is proposed to
realize the variable structure with a state observer and
compensation of the uncertainty of controlled objects
with a neural network. The gain of the variable
structure adjusted on line can further reduce the
chattering of the system. Its practical application in the
position control displays its strong robustness. The
intelligent control of the PMSM is thus implemented.
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2002- 01-17

(1960-) , ,

(1957-) ,
CIMS
(1971-) ,

-

,(,,412008) (,,
,410082)

PROCEEDINGS OF THE CHINESE SOCIETY FOR ELECTRICAL ENGINEERING

() 2002,22(7)
28

(8)
1.Lin F J;Chiu S L;Shyu K K Novel sliding mode controller for synchronous motor drive[] 1998(02)
2. 1996
3.BARTOSZEWICZ A Remarks on discrete-time variable structure control system 1996(01)
4.Tarek A A;Francoise L L Sliding observer-controller design for uncertain triangular nonlinear systems[]
1999(06)
5.Gao W B;Wang Y F;Homaifa A Discrete-time variable structure control systems[] 1995(02)
6.Eun Y;Cho D D Robustness of multivariable discrete-time variable structure control[] 1999(12)
7.Chen X;Fukuda T Adaptive quasi-sliding mode control[] 1999(02)
8.Young K D;UtKin. Y I A control engineer's guide to sliding mode control[] 1999(03)

(30)
1.. []- 2011(10)
2... []- 2011(28)
3.. []- 2010(3)
4.. PID[]- 2010(4)
5... IPM[]- 2010(9)
6.... PMSM[]- 2010(12)
7.[]- 2009(10)
8... []- 2009(9)
9.. H[]- 2009(4)
10... []- 2009(6)
11... []- 2009(4)
12... []- 2008(6)
13... []- 2007(10)
14.... DSP[]- 2007(4)
15..... []- 2007(15)
16.... []- 2007(12)
17.... PID[]- 2007(9)
18.... []- 2007(5)
19.... []- 2006(20)
20... []- 2006(15)
21.. PID[]- 2006(8)
22.... PMSM/[]- 2006(8)
23.. DTC[]- 2006(1)
24.. []- 2006(2)
25... PMSM[]- 2005(21)
26. []- 2004(2)
27.... []-
2004(11)
28.... []-
2004(10)
29... []- 2004(7)
30... []- 2004(7)


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