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*
Yesma Bendaha. Phone +21373450892
a
university of science and technology Mohamed boudiaf, oran, algeria, bendahay@yahoo.fr
b
university of science and technology Mohamed boudiaf, oran, algeria, mazari_dz@yahoo.fr
Abstract
For a robust control with high performances of the induction motor we appealed, a powerful tool which is the nonlinear
back stepping control. We adapted this command to keep the same overall structure of the vector control, and preserving the
two internal loops of regulation of the currents. Two versions of this command have been proposed; classical and integral
back stepping). The back stepping control is robust against parametric variation especially rotor resistance variations. How-
ever, the algorithm of this technology presents a proportional-derivative structure, causing oscillations on the rotor flux and
the torque, at long run it can affect the process functioning. Proportional-derivative structure seems to be the weak link in
this method; the solution is introducing an action integral to the control algorithm. Simulation results with Matlab / Sim-
ulink-have confirmed the effectiveness of the proposed method.
Key words: Induction motor (IM), vector control, standard backstepping control, integral backstepping action.
k 0
Where: k1 11 are positive constants determined by 1 * 1 rd k e * Cr f 1 v
0 k12 e21 k e
rd 11 11 2 11 11 q
J Ls
sq
(14)
rd
the dynamics of the closed loop system, and c1 0 .
e22
1
Lm
k12e12 rd f d
1
Ls
vsd
From equation (7), we deduce:
Then, by substituting e11 , e12 by their expressions giv-
x2 x*2 b 1x1 y * f1x1 k1e1 c1sign e1 1x1, t (8) en in Equation (11) and r by its expression in model (1),
1
we have:
Then the virtual stabilizing functions are selected as fol- 1
lows:
e q v sq
21 Ls
1
(15)
J * Cr
e d v
i* k e 22 L s sd
sq rd J
11 11
x*
2 * 1 (9)
i * With:
sd
L k e
m 12 12 rd
rd
d2
x x
The virtual control x*2 in the equation (9) is chosen as dt 2
reference for the step 2.
J C 1 *
k e * r isq fq
* e21 i*sq isq rd 11 11 J rd
e2 x2 x2 (10)
e22 i*sd isd 1 k e * i
L 12 12 rd rd sd
One can notice that Equ.(15) include the system inputs:
m the stator voltage. These could be found out through the
From equation (4), isd and isq are drawn, and replaced in- definition of new Lyapunov function based on the errors of
to the equation (10), we obtain: the speed, of the rotor flux and of stator currents.
We extend the Lyapunov function in Eq. (5) to include
rd the variable e2
e k e e
11 11 11 J 21 (11)
e k e Lm e 1 T 1 (16)
12 12 12 22 V2 e1 e1 e2T e2
2 2
The dynamics of the error e2:
The control law is deduced from the derivative of V2:
e2 x*2 f 2 x1, x2 b2 x1, x2 u 2 x1, x2 , t (12)
V2 e1T e1 eT
2 e2
Applied to motor we obtain: k1e1T e1 e1T c1sign e1 1x1, t (17)
eT *
di* disq di* 2 b1 x1 e2 x 2 f 2 x1, x2 b2 x1, x2 u 2 x1, x2 , t
sq sq 1
e 21 fq v
dt dt dt Ls sq The process terminates when the final external control is
(13)
di* *
sd disd disd f 1 v reached, so the control law is:
e d
22 dt dt dt Ls sd
1 2 2
2 1 2 1 1 11
u b21 x , x x* f x , x b x e k e c sign e
12 12 2 12
(18)
With:
2
i sq
f d i sd rd pi sq Lm Applied to motor we obtain:
rd
i sd i sq
V 2 e 11 k 11 e 11 rd e 21 e 12 k 12 e 12 Lm e 22
f q i sq p rd pi sd Lm
rd
e 21 q
1
v sq e 22 d
1
v sd
L s L s (19)
Differentiating Equation (9) and substituting in Equa- k 11 e 2 k 12 e 2 k 21 e 2 k 22 e 2
11 12 21 22
tion (13), we obtain:
1 1
e 21 rd e 11 k 21 e 21 q v sq e 22 Lm e 12 k 22 e 22 d v sd
Ls Ls
k 0 d C
Where: k 2 21 are positive constants determined rd i sq r
0 k 22 dt J J
d rd
by the dynamics of the closed loop system, and c 2 0 . rd Lm i sd
dt
di sd
k 0 e21 id
k 2 21 , e2 , dt
(23)
0 k 22 e22 di sq
iq
Then the control laws are: dt
did d i sq2
isd rd pisq Lm wd
v*
sq Ls rd e11 k 21e 21 q dt dt rd
(20) di sq d i sd i sq
sd Ls Lm e12 k 22 e 22 d
v* i sq p rd pi sd Lm wq
dt dt rd
Substituting the expressions of the equation (19) into d s i sq
equation (14) yields: p L m
dt rd
e21 rd e11 k 21e21
(21) The application of the backstepping to this new model
e22 Lm e12 k 22e22 allows the calculation of the intermediate drives wq and
wd, given by:
Equation (11) and equation (15) can be writing as:
e
e (22) wq
d
dt
rd e11 k21e21 q k31e31 e21
(24)
Where the dynamic matrix A is: wd
d
dt
Lme12 k22e22 q k32e32 e22
k11 0 rd 0
Easy integration of equation (24) makes it possible to
0 k12 0 Lm return to V*sq and v*sd, The final control law can be found
rd 0 k21 0 as;
0 Lm 0 k22
v*sq Ls wq dt Ls rd e11 k 21 e 21 q k 31 e 31 dt e 21 dt
2.2. Backstepping with integral action
v*sq 0 Ls k 31 e 31 dt e 31 dt
(25)
From the expression of the control law, equation (20), it
v*sd Ls wd dt Ls Lme12 k 22 e 22 d k 32 e 31 dt e 22 dt
can clearly see that the structure generated by the control-
v*sd 0 Ls k 32 e 32 dt e 22 dt
ler of the conventional version consisting of backstepping
is made up of an action proportional, to which is added an With:
derived action on the errors. Such structure makes the sys-
tem sensitive to measurement noise. e * i
iq
31 q
The absence of integrator also causes the appearance of
a constant static error, caused mainly by the disturbance. rd e k e q
11 21 21
The solution to this problem is to design a new version * i (26)
e id d
of backstepping with an integral action [6], [7]. This 32
amounts to introduce integrators in the model of the asyn- Lme12 k e q
22 22
chronous machine and proceed to application of the con-
ventional method of backstepping on this new model. Where:
The integral action will be transferred automatically
from the model to the control law. That will make it possi-
k 0
ble to the controller to eliminate the external disturbances k3 31 are positive constants determined by the
at the entry and / or exit of the motor. 0 k32
The introduction of integrators in the model will in- dynamics of the closed loop system, and v*sq0, v*sd0 are
crease the model (1) of two states. commands of classical backstepping
By deriving once the equations (3) and (4) in the model
(1), and by introducing new state variables iq and i d , the 3. Simulation results and interpretations
new increased model is obtained:
We present in this section the simulation results of the
proposed control strategy applied to an induction motor.
The motor parameters are summarized in table.1.
Rs 4.850 P 1,5kw fc 0
Rr 3.805 IN 6.5A p 2
Ls 0.274H VN 220V f 50 Hz
Lr 0.274H N 149rad/s
Lm 0.258H J 0.031kg/m2
Fig. 2. Performances of classical backstepping on IM Fig. 4. Test of robustness against rotor resistance variation
Speed rapidly converges to its reference with good dis- Figure 5 shows a comparison between conventional
turbance rejection. We also note that we have a good de- backstepping control and backstepping with integral action
coupling, since the flux perfectly follows his reference for a trapezoidal speed profile control.
1Wb. Note however, oscillations on the electromagnetic We took k31= 1000 and k32 = 900.
torque. The choice of the gains kij was made by the "Try & Er-
The estimates errors shown in fig.3 tend to zero. rors" method
4. Conclusion
References
[1] F-J. Lin, P-H0 Shen, Adaptive backstepping sliding mode
control for linear induction motor drives, IEE, Proc-Electr.
Power Appl., Vol.149, No.3, May, 2002
[2] Shun-Sheng Ke, Jung-Shan Lin, Sensorless speed tracking
control with backstepping design scheme for permanent mag-
net synchronous motors, IEEE, Conference on Control Ap-
plications, Toronto, Canada, August 28-31, 2005.
[3] Faa-Jeng Lin, Chih-Kai Chang, and Po-Kai Huang, FPGA-
Based Adaptive Backstepping Sliding-Mode Control for Line-
ar Induction Motor Drive, IEEE, Transaction on power Elec-
tronics, Vol. 22, No. 4, July 2007.
[4] Guan Lirong, Yang Junyou, Permanent Magnet Linear Syn-
chronous Motor Drive Using Adaptive Backstepping Sliding
Mode Control, International Conference on Computer and
Electrical Engineering, DOI 10.1109/ICCEE.2008.170
[5] Nabil Ezziani, Commande adaptative floue backstepping
dune machine asynchrone avec et sans capteur mcanique,