Vector Control of Induction Motor Using an Integral Sliding Mode Controller with Anti-windup

Abstract

This work presents a sliding mode controller, applied to the three-phase induction motor using indirect field-oriented control technique. A possible approach for chattering reduction with high degree of robustness is based on the switching saturation function, although it presents steady-state error. This paper, therefore, proposes an integral sliding mode controller with a new anti-windup, which has low overshoot and no steady-state error. In addition, an approach using a switching sigmoid function is presented. The motor performance is verified by means of numeric simulations and experimental tests with load disturbances. The proposed controller presents better results when compared to other conventional sliding mode controllers and a tuned PI controller.

Appendices

Appendix 1: Parameters of the Controllers

ISMC-AW ($\omega _\mathrm{m}$)
$\zeta \, _\mathrm{M} = 2.7$	$\phi = 9$	$\lambda _{\omega \mathrm{m}} = 25$	$\sigma = 300$
ISMC ($\omega _\mathrm{m}$)
$\zeta \, _\mathrm{M} = 2.7$	$\phi = 9$		$\lambda _{\omega \mathrm{m}} = 1$
CONVENTIONAL SMC ($\omega _\mathrm{m}$)
$\zeta \, _\mathrm{M} = 2.7$		$\phi = 9$
TUNED PI ($\omega _\mathrm{m}$)
$\zeta \, _\mathrm{sat} = 2.7$	$K_p = 0.22$	$K_i = 4.2452$	$K_b = 0.25$
PI current controllers ($i_{\mathrm{d}s}$,$i_\mathrm{qs}$)
$\zeta \, _\mathrm{sat} = 311$	$K_p = 12.79$		$K_i = 2256$

Appendix 2: Induction Motor Data

Parameter	Value	Unit
Power	1	HP
$R_\mathrm{s}$	7.5022	$\Omega$
$R_\mathrm{r}$	4.8319	$\Omega$
$(L_\mathrm{s}$ e $L_\mathrm{r})$	718.5	mH
$L_\mathrm{m}$	694.1	mH
p	1
J	$2.028 \, 10^{-3}$	Kg m$^2$
F	$1.362 \, 10^{-3}$	N m s
Voltage	220	V