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Teoria Controlador PID
Teoria Controlador PID
Teoria Controlador PID
I. INTRODUCTION
SMC is a powerful controller that offers good performances in systems, linear and nonlinear, with uncertainties
in their models. Many researches of SMC applied to the
energy field have been reported in literature [1][4] . Additional applications of SMC for unmanned aerial vehicles are
reported in [5], [6]. Further studies of SMC applied to an
engine cooling system [7], congestion control in communication networks [8], and the regulation of an electro-hydraulic
system [9] are also analyzed.
The implementation of SMC seems limited, sometimes,
for the theoretical requirement of a switching control signal.
The signal discontinuity due to such switching requirement
causes the chattering phenomenon. This issue has been
studied, and a solution where a saturation function is used
instead of the switching function is proposed under the name
of QSMC [10][12]. Although, the use of the saturation
function typically causes steady-state error.
Diminishing the steady-state error caused by the QSMC
is typically done by the introduction of an integral term in
the sliding surface [13][15]. This paper proposes a discrete
QSMC based on a RWLS estimator. The RWLS estimator
algorithm [16][18] allows the reduction of the steady state
error by adapting the parameters of an autoregressive model
with exogenous input (ARX) of the system to be controlled.
The proposed controller (RWLS-QSMC) is tested in the
speed regulation of a dc motor. The results show a good
performance of the system in the regulation and tracking of
linear and nonlinear references. One of the strengths of the
(1)
(2)
WN
jvalladolid@ups.edu.ec; jortizg@ups.edu.ec
Luis I. Minchala is with the Department of Electrical, Electronic and
Telecommunications Engineering, Universidad de Cuenca, Cuenca, Ecuador
ismael.minchala@ucuenca.edu.ec
978-1-5090-0754-7/16/$31.00 2016 IEEE
886
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.
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0
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0
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a
B. Chattering reduction
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=
.
yN 2
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..
.
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yN 3
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uN (nm+1)
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Some methods have been proposed to mitigate the chattering effects in the SMC. As stated previously, the switching
function (sgn (s)) is to be replaced by the saturation function
in Eq. (9) [12]:
1 for s <
1
s for |s|
(9)
sat (s) =
1
for s >
(3)
1
-
-1
k =
a1
a2
h
Qk1
b1
T
k Tk Qk1
C. Adaptation Criterion
(5)
(6)
(7)
(8)
887
x(k+1)=A(k)x(k)+B(k)u(k)
y(k)=C(k)x(k)
Adaptation
Criterion
QSMC
yd (k)
Update
model
a 1 a 2 b1
RWLS
System
Identification
y(k)
e(k)
u(k)
Plant
POWER ON
Inicialize estimation
parameters ( =0.99, a=1)
A. Experimental setup
An Arduino DUE board and MATLAB perform the data
acquisition of the motor speed. The sampling time is set
at 20ms. Fig. 4 shows the experimental setup of the control system. The communication setup between the humanmachine interface (HMI) developed in a computer, and
the real time control system is developed through a serial
communication with a speed of 115200 baud. The PWM
signal for controlling the speed of the dc motor is generated
with a frequency of 500 Hz.
The parameters configured for the RWLS-QSMC, Eq.
(11), are the following:
T = 20ms, = 50, q = 0.8
and cT = 1 0 . The saturation function of Eq. (9) varies
depending on the parameter 10 < < 60, which depends
on the reference signal and the calculation performed by the
adaptation criterion.
Run RLWS to
calculate new model
QSMC
Adjust controller
parameters
A(k) and B(k)
New samples
y(k) and u(k)
Adaptation
Criterion
Variation 2% of the
Previous model vs.
Current model
NO
YES
B. Results analysis
To compare the advantages of the proposed controller, the
experiments performed in the dc motor considered an SMC
algorithm and the RWLS-QSMC algorithm. Fig 5 shows
the system response by using these two algorithms, and
the same testing conditions in both of them to compare
their performance. Fig. 5a shows a considerably amount of
chattering, since a standard SMC where used. Fig. 5b shows
the result of implementing an SMC with RWLS, where
clearly the chattering effect is still present. Fig. 5c shows a
significant improvement by the implementation of the QSMC
algorithm, although there is steady state error. Fig. 5d shows
the result of the RWLS-QSMC; the first ten seconds show
the convergence of the RWLS, and afterwards the system
does not present steady-state error, as it was proposed in the
methodology of design of the controller.
Fig. 6 shows a comparison of the QSMC and the RWLSQSMC under a reference change (tracking). After a convergence time (approximately ten seconds), the RWLS-QSMC
eliminates the steady-state error of the system, compared
with the QSMC that presents a slight steady-state error.
Fig. 7 shows the results of the system when tracking linear
Update Model
Fig. 3. Flowchart of the adaptation criterion
(13)
(14)
250
250
200
150
300
Speed [rps]
300
Speed [rps]
200
10
20
Output
Reference
100
0
30
10
20
Time [s]
(a)
(b)
300
300
250
250
200
150
100
0
20
30
100
0
10
20
Time [s]
(c)
(d)
15
20
25
QSMC
RWLSQSMC
10
15
Time [s]
20
30
25
30
Output
Reference
Time [s]
10
Reference
200
150
10
300
200
Output
Reference
100
0
30
Speed [rps]
Time [s]
Speed [rps]
Speed [rps]
100
0
200
100
0
150
Output
Reference
30
300
u(k) [PWM]
Speed [rps]
300
Fig. 5. Close-loop step response: (a) SMC with function sgn(s), (b) SMC
with RWLS and function sgn(s), (c) QSMC with function sat (s), (d)
QSMC with RWLS and function sat (s)
200
100
0
0
10
15
20
QSMC
RWLSQSMC
25
30
10
25
30
25
30
25
30
u(k) [PWM]
300
200
100
0
0
15
Time [s]
20
300
e(k) [rps]
60
40
20
0
20
0
200
10
QSMC
15
20
RWLSQSMC
60
150
e(k) [rps]
Speed [rps]
250
Reference
QSMC
RWLSQSMC
100
0
10
15
Time [s]
20
25
30
40
20
0
20
0
10
15
Time [s]
20
889
VI. CONCLUSIONS
890