DSpace Collection: Thesis - Control Engineering
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Study and Implementation of DSP Based Sensorless Speed Control of Induction Motor
http://etd.aau.edu.et:80/dspace/handle/123456789/4808
Title: Study and Implementation of DSP Based Sensorless Speed Control of Induction Motor
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<br/>Authors: Fitsum, Bekele
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<br/>Abstract: Variable speed induction motor drives that operate without speed or position sensors have the benefits of reduced drive system’s size and overall cost as well as high system reliability. The objective of this thesis is to design, develop, implement and test a sensorless speed vector control scheme that has a dynamic performance close to a sensored motor drive. Sensorless vector controlled drive require estimating the rotor speed as well as magnitude and spatial orientation of the magnetic flux in the stator or rotor. The methodology used here is to implement a Model Reference Adaptive flux and speed observer (MRAS) to estimate the flux and speed from measured terminal voltages and currents. The performance of the proposed system is first investigated through simulations by considering the speed tracking, torque response quickness and sensitivity to parameter variation. The simulation results obtained agree with the design objective. Finally, a control algorithm is developed using block programming capability of the Real Time Workshop (RTW) and Code Composer Studio. Then the developed control algorithm is implemented using Texas Instruments Digital Signal Processor F2812 on a general purpose 1.1KW induction machine.DESIGN OF FUZZY SLIDING MODE CONTROLLER FOR THE BALL AND PLATE SYSTEM
http://etd.aau.edu.et:80/dspace/handle/123456789/4495
Title: DESIGN OF FUZZY SLIDING MODE CONTROLLER FOR THE BALL AND PLATE SYSTEM
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<br/>Authors: Andinet, Negash
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<br/>Abstract: The Ball and Plate system is a non-linear, multivariable and under-actuated system which provides a suitable experimental platform for control algorithm development and investigation of both stabilization and trajectory tracking control of unstable systems.
Sliding mode control, as one of the tools available to design robust controllers, is introduced in the outer loop of a double-loop feedback configuration. Since the robustness of sliding mode control is obtained at the cost of infinite switching of the control input, undesirable phenomenon known as chattering will be a concern in practical implementations. To this end, Fuzzy Logic is used to tune the gain of the switching control component based on the distance of the system trajectory from the sliding surface. Genetic algorithm is implemented to determine the parameters of the fuzzy system in an optimal manner.
Linear algebraic method is used to design an inner loop angle controller from a set of Diophantine equations. An implementable zero-position error transfer function is selected from tabulated results of analog computer simulations of Integral of Time Multiplied Absolute Error (ITAE) optimal systems. Specifications for the desired settling time and limitation in the actuator voltage are used as constraints to obtain the coefficients of the overall transfer function.
The mathematical model of the Ball and Plate system, solved from Euler-Lagrange Equations of Motion, is investigated by realizing the designed controllers using Simulink ® and Real-Time Windows Target™ rapid prototyping software. The 3-D model of the system designed using V·Realm™ Builder based on the standards of Virtual Reality Modeling Language (VRML) is interfaced with the Simulink ® model via Simulink® 3D Animation™ product.
Simulation results show that the ball could be stabilized anywhere on the plate in 3.5 seconds and it could also track a circular trajectory of 0.4m radius at 0.8 rad/s in 10 seconds without significant chattering.