A Robust Adaptive Sliding Mode Control for PMLSM with Variable Velocity Profile Over Wide Range

Abstract

An adaptive robust variable structure speed controller is designed for wide range of desired velocity control of a Permanent Magnet Linear Synchronous Motor (PMLSM). This is performed for comprehensive nonlinear model of PMLSM including non-idealities such as detent force, parameter uncertainty, unpredicted disturbance and nonlinear friction. The proposed method is based on the robust Sliding Mode Control (SMC) in combination with an adaptive strategy for a wide range of velocity. The simulation results are provided for the above mentioned comprehensive model of PMLSM with a variable velocity profile. Moreover, as an evaluation criterion, a Proportional-Integral (PI) controller is designed whose parameters are optimally tuned by the Particle Swarm Optimization (PSO) algorithm for better comparison.