Velocity Tracking of AC Motor Using Sliding

Mode Control and Kalman Filter for State

Estimation

Auralius Manurung
RIS-Lab, GSNU
December, 2009
 Model Identification

• X-axis -> voltage sent to the inverter through the ADC of our controller.
• Y-axis -> measured linear velocity of our AC motor.
• Required voltage (V) to get certain desired velocity (v) can be stated as:
v + 0.0595
V=
0.2854
• This model will be used as an estimated model for designing Sliding Mode Control.
 Control Design
• Sliding surface is defined as:
s = λx1 + x2
where:
dx1
x1 = vd − v and x2 = = ad − a
dt
• Due to switching action in SMC, control action is defined as:
u smc = − K sgn(s ) ; if abs (s ) > φ
s
u smc = − K ; if abs (s ) < φ
φ
• Finally, control signal can be stated as:
u = uˆ + u smc
û is estimated control signal based on our previous estimated
model.
 Control Design (cont’d)
• Only position is available as feedback.
• Deriving position respect to time to get
velocity and acceleration will generate huge
noises, especially in acceleration.
• Kalman filter is used to estimate velocity and
acceleration based on kinematic model of
motion.
Control Design (cont’d)
 Control Design (cont’d)
Kalman filter:
Given a linear stochastic difference equation:
xk = Axk −1 + Buk −1 + wk −1
yk = Cxk + vk
w and v are process and measurement noise with
probability of q and r respectively.
Correct
K k = Pk−C T (CPk−C T + R ) −1
xˆk− = Axˆk −1 + Bu k −1
xˆk = xˆk− + K k ( yk − yˆ k )
Pk− = APk −1 AT + Q
Pk = (1 − K k C ) Pk−
Predict
 Control Design (cont’d)
• Algorithm for 1-Dimensional Kalman filter:

Define value of q and r

Loop:
est_valk = est_valk-1 Time Update

Measurement Update
pk = pk-1 + q (“Predict”)

(“Correct”)
kalman_gain = pk / (pk + r)
est_valk = est_valk + kalman_gain*(measured_valk - estimated_valk)
pk = pk * (1 – kalman_gain)
End loop
 Experiment Results
• NI LabVIEW 8.5
• NI CompactRIO-9004
• AC induction motor (1.5 kw, 4 poles, 60Hz, 1680 rpm).
• LS variable frequency drives (SV-iG5A)

NI cRio
AC induction motor and inverter
 Experiment Results (cont’d)
• Kalman Filter will reject huge noises based on
predict-and-correct method very nicely.
 Experiment Results (cont’d)

Velocity and acceleration response to sinusoidal input at 0.1 Hz with amplitude of 1 m/s.
Desired acceleration is set as half of differentiation of desired velocity.
 Experiment Results (cont’d)

Velocity and acceleration response to sinusoidal input at 0.3 Hz and with amplitude of 0.5 m/s.
Desired acceleration is set as half of differentiation of desired velocity.

The performance is deteriorating, especially at deceleration due to high inertia.

 Experiment Results (cont’d)
• Disturbance Rejection
– Sinusoidal input at 0.3 Hz and with amplitude of 0.5 m/s
– Loaded with an object about 70 kg of mass.

Velocity Acceleration
 Experiment Results (cont’d)
• SMC parameters:
– K=2
– Lambda = 10
– Delta = 2
• Kalman filter parameters for acceleration:
– q = 0.001
– r = 500
• Kalman filter parameters for velocity :
– q = 0.01
– r = 15
 Conclusions
• We have implemented Sliding Mode Controller in AC motor.
• Sliding Mode controller is suitable for AC motor where
robustness is important in its application.
• Kalman filter provides a reliable state estimation required by
Sliding Mode Controller.
 References
• Greg Welch and Gary Bishop, An Introduction to the Kalman Filter,
University of North Carolina, USA, 2006
• Marcus, http://interactive-matter.org/2009/12/filtering-sensor-data-with-
a-kalman-filter/
• Bondhan Novandy, http://bono02.files.wordpress.com/2008/07/pismc.pdf