The Sliding Mode Control For Power Electronics Devices

THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Pr
THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Problems and Research Plan,
at GTU,Ahmedabad, INDIA.
Brijesh Naik (pnaik04@gmail.com), Mobile: +91-9825940607 Submitted to GTU, Ahmedabad, INDIA. Ph.D Supervisor: Dr. Axaykumar J. Mehta (draxaymehta@gmail.com) M.Tech(IIT Khargpur),Ph.D (IIT Bombay), Professor, Electrical Engg. Dept., Director-Gujarat Power and Energy Research Institute. Mehsana, India Moblile:+91-989 819 9295
Brijesh Naik (pnaik04@gmail.com), Mobile: +91-9825940607 Submitted to GTU,MODE CONTROL FOR POWER ELECTRONIC THE SLIDING Ahmedabad, INDIA. Ph.D Supervisor: Dr. Ax
THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Pr
Table of contents
1 Introduction and Literature Survey
Sliding Mode Control and Power Electronics Switching Power Converters

2 Simulation Results and Discussion
Higher Order Sliding Mode Control

3 Possible Research Problems 4 Research Plan and Future Work 5 Acknowledgement 6 References
THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Pr Introduction and Literature Survey
Introduction with Literature Survey
Concentrating on the chattering alleviation by using higher order sliding modes. Inherent Robustness property of sliding mode control. Using sliding mode control is a good idea because many power electronics devices them-self are variable structure systems due to switching elements. Application of SMC to power converters and rectiers are interesting due to ease of implementation.
continued..
It is well known that sliding mode control may cause chattering. Chattering is considered as a problem in many cases of sliding mode control applications. Higher Order Sliding Mode Control mainly deals with reducing the higher order dynamics of sliding manifold equations to zero.
continued..
The sliding Mode Control for power electronics devices can be found mainly in the [1],[2]. The references listed at the end are all the most important to begin the research work in this eld. [1] is the very important book for the beginners. Most of the simulations guidelines are available with it. The basics of SMC are discussed in detail in [2]. [3] and [4] discuss about higher order sliding mode control and gives ideal to implement chattering free sliding mode control. [5] and [6] are very important if we need to implement the nite time control with Sliding Mode Control. [7] and [8] are important if one wants to study the analysis of sliding mode controlled systems in the frequency domain. [9] discusses the quantization eect in the eld of discrete time sliding mode controlled systems. [10] discusses with extreme mathematical arguments about chattering free sliding mode controller in the discrete domain.
THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Pr Introduction and Literature Survey Sliding Mode Control and Power Electronics
SMC for Power Electronics

The sliding Mode Control for power electronics devices can be found mainly in the [1],[2].
Figure: AC-DC Voltage Connverter.[2]
continued..
The above gure is the single phase controlled rectier with 4 switches. To control the output voltage at desired value vd , we need to use a control law which can cause proper switching to achieve the goal. The choice of control law in this case is sliding mode control in continuous time. The above circuit is described by the following laws: Vg dig v0 = sinwt u dt L L (1)
ig dv0 v0 = u (2) dt RC C Here the input voltage vg = Vg sinwt and switches operates as per the control law given by following equation.
continued..
u = 1 , if S1A and S2B are closed u = 1, if S1B and S2A are closed It seems reasonable to control the switching as per the error ve =vd -v0 . Hence the control law now becomes as per the following. u = 1 if (vd v0 )ig > 0 u = 1 if (vd v0 )ig < 0 Hence, we can say that, u = sign[ve ig ] (3)
continued..
As per the above equations we can get the following equation. |ig | v0 sign(ve ) RC C + C vg |, then ve will vanish. ve = vg + (4)
if |ig | > | v0 R
simulation results
Figure: AC-DC Voltage Connverter-Simulation Model. [2]
output response
Figure: Time response of output voltage. [2]
parameters for Ac-Dc converter model
Here is the practical data for simulation model of ac-dc converter: series inductance= 0.001 Henry AC source voltage = single phase, 100 volt peak, 50 Hz capacitance = 1 farad Load resistance = 100 ohms voltage reference = 60 volt switching device = ideal switch
THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Pr Introduction and Literature Survey Switching Power Converters
Switching Power Converters

Sliding Mode Control for switching power converters can be found extensively in [1]. The following gure is the sliding mode voltage controlled buck converter.[1]
Figure: SMVC Buck Converter. [1]
continued..
The state space model is given by the following equation. x1 x2 0

1 LC
1
1 rL C
x1 x2
0 vi LC
u+
0
vref LC
(5)
where, x1 = Vref (v0 ) and x2 = x1 . If we dene sliding manifold S = x1 + x2 , where then u can be 0 if S < 0 and u can be 1 if S > 0.
continued..
can be regarded as the tuning parameter. The switching limits can be introduced to make chattering less severe. In that case of practical implementation of SMVC buck converter,
u=1S >k u = 0 S < k where k is a small positive number which determines the dead zone in switching function.By considering the existence condition of sliding mode control i.e. S S < 0, one can derive equations as below:
continued
1 = (
1 1 Vref vi )x2 x1 + <0 rL C LC LC 1 Vref 1 )x2 x1 + >0 2 = ( rL C LC LC
(6) (7)
where, 1 = J x for 0 < S < k 2 = J x for k < S < 0 J = [ 1]
simulation results
Figure: SMVC Buck Converter-Simulation Model. [1]
output response
Figure: SMVC Buck Converter-time response of output voltage. [1]
parameters of SMVC Buck converter
Here are the practical data for buck converter: dc input source = 100 volts switching device used = MOSFET inductance L = 100 mH capacitance C = 1 mH voltage divider ratio = 0.09 load resistance = 1 k ohms reference voltage = 0.09*90=8.2 (corresponds to 90 volts desired voltage)
regions of SMC
Figure: Regions of Existance of SMC in phase plane: >
1 rL C .
[1]
regions of Existance of SMC
Figure: Regions of Existance of SMC in phase plane: >
1 rL C .
[1]
phase plane analysis:Buck converter with SMC
Figure: phase trajectory of states. [1]
Adaptive feedback for SMVC buck converter

It is reasonable to set = rL1C because = rL1C . can be reduced if faster response is desired. The frequency of the converter when it is operating in SM is 1 fs = T and it can be given by the following equation:[1] (8) 2kL The above equation is important to adjust the hysteresis band so that the switching frequency is constant in the SM region [1]. The following gure depicts the adaptive feed back control of the SMVC Buck Converter. fs = vo (1
vo vi )
continued..
Figure: The Feed back Adaptive Control of SMVC Buck Converter. [1]
continued..
By making the sliding coecient adaptive i.e. = equation becomes, S= In g.10, we have, rL = vo ir (10) 1 (Vref vo ) iC rL
1 rL C ,
SM control
(9)
Hence the sliding function becomes, S= ir (Vref vo ) iC vo (11)
Adaptive Feedback SMVC Buck Converter Simulation
Figure: The Feed back Adaptive Control of SMVC Buck Converter-Simulation Model.
response of output voltage
Figure: The Feed back Adaptive Control of SMVC Buck Converter-Output time response.
phase plane analysis:buck converter with adaptive SMC
Figure: The Feed back Adaptive Control of SMVC Buck Converter-phase trajectory.
Simulation Results and Discussion

Application of Sliding Mode Control to the Power Electronics Systems is possible but we need to answer some questions. What is the remedy of chattering? Can we apply Higher Order Sliding Mode Control? What about the disturbance rejection capability if we apply dead band in switching function to meet the frequency limitation of switching device e.g. MOSFET. What about discretization and quantization error issues? Systematic proof for robustness of overall system. Modelling errors?
THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Pr Introduction and Literature Survey Higher Order Sliding Mode Control
Higher order Sliding Modes

The r th order sliding mode is determined by the equalities [3]: s = s = = ..... = s r 1 = 0 s (12)
Here, s is the sliding surface. In the twisting algorithm we force s and s to zero [3]. In the twisting algorithm we formulate the equation of control law in terms of u. The following gure is the phase trajectory of twisting algorithm. This can alleviate chattering compared to rst order sliding mode control. The twisting algorithm is discussed in the wide variety of literature. The control law for twisting algorithm can exist only if certain conditions are satised [4]
continued..
Figure: Trajectory of twisting algorithm. [4]
continued..
The control law for the twisting algorithm is given by: u = u, if |u| > 1 u = Psign(s) if s s 0 and |u| 1 u = Jsign(s) if s s 0 and |u| 1 where, J > P is true and other conditions must be satised [4],[3]. In [6] and [5] they have used nite time control law. Instead of taking the control law: s = Ksign(s) we can take, s = sig (s) where, sig (s) = |s| sign(s) and 0 < < 1. This can result in nite time convergence of s.
THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Pr Possible Research Problems
Possible Research Problems

The power electronics devices can be controlled eectively with sliding mode control. But in general it can cause limit cycles like behaviour around desired level or operating point unless adaptive technique is used. Studying the behaviour of system on switching manifold is the problem of interest. Moreover the discrete time SMC can be applied for the power electronics systems. The dierences in the behaviour of systems due to quantization errors on switching manifold can be studied in detail. Along with we can apply higher order sliding mode control or other similar techniques for the system to alleviate chattering.
continued..
we can further dene the possible research problem as follows: The power electronics switching devices can not be operated with innite frequency. The sliding mode control assumes that innite frequency of switching occurs on the sliding manifold. The responses exhibit the limit cycles like behaviour around the sliding manifold. The nite switching frequency can be the choice of operating and we can estimate the bounds of switching frequency and bounds of disturbances with some prior knowledge so that both the robustness and limitation of operating frequency of switching device are taken care of. We can analyse the behaviour of overall system with particular switching frequency.
continued..
If we discretise the system to implement a digital controller, we have to consider the quantization errors and in that case the switching device will be red at particular instant depending upon a sampling time imposed. in that case also we can dene the minimum sampling interval to be imposed to satisfy the robustness of overall systems to matched disturbances with the constraint of switching frequency.
Scope of Research and Research Plan

The aim of Research in the eld of Sliding Mode Control(SMC) for Power Electronics Systems is to study the behaviour of the system controlled by SMC on the sliding surface. Also, to provide solution to the chattering problems by imposing limitations to switching frequency and simultaneously analysing for robustness to matched disturbances. One option to reduce chattering is to implement higher order sliding mode control. The study will be conducted on software simulations and if successful we can think for implementation for real world applications.
Acknowledgement
The authors are thankful to Gujarat Technological University for allowing us for the research work. All the professors who taught us the Research Methodology and Dr. Axay Mehta for their valuable guidance and support.
The authors are thankful to Gujarat Technological University for allowing us for the research work. All the professors who taught us the Research Methodology and Dr. Axay Mehta for their valuable guidance and support. The authors are thankful to Gujarat Technological University for allowing us for the research work. All the professors who taught us the Research Methodology and Dr. Axay Mehta for their valuable guidance and support. The authors are thankful to Gujarat Technological University for allowing us for the research work. All the professors who taught us the Research Methodology and Dr. Axay Mehta for their valuable guidance and support.
The authors are thankful to Gujarat Technological University for allowing us for the research work. All the professors who taught us the Research Methodology and Dr. Axay Mehta for their valuable guidance and support. The authors are thankful to Gujarat Technological University for allowing us for the research work. All the professors who taught us the Research Methodology and Dr. Axay Mehta for their valuable guidance and support. The authors are thankful to Gujarat Technological University for allowing us for the research work. All the professors who taught us the Research Methodology and Dr. Axay Mehta for their valuable guidance and support.
The authors are thankful to Gujarat Technological University for allowing us for the research work. All the professors who taught us the Research Methodology and Dr. Axay Mehta for their valuable guidance and support.
References I
[1] [2] [3] S. C. Tan, Sliding Mode Control of Switching Power Converters. CRC Press, 2012. J. G. Vadim Utkin and J. Shi, Sliding Mode Control in Electromechanical Systems. Taylor and Francis, 1999. A. levant, Sliding order and sliding accuracy in sliding mode control, International Journal of Control, vol. 58, no. 6, pp. 12471263, 1993. L. A. Levant, Sliding Mode Control In Engineering edited by Wilfrid Peruquetti and Jean Pierre Barbot. Marcel Dekker, New York-Basel, 2002. V.T.Haimo, Finite time controllers, SIAM Journal of Control and Optimization, vol. 24, no. 4, pp. 760770, 1986.
[4]
[5]
References II
[6] [7] S.Janardhanan, Relay-free second order sliding mode control, IEEE Conference on Industrial Technology, 2006. L. I.Boiko and R.Iriarte, Analysis of steady state behavior of second order sliding mode algorithms, Proceeding of the 2004 American Control Conference, pp. 632636, 2004. A. P. E. U. Igor Boiko, Leonid Fridman, Analysis of chattering in systems with second-order sliding modes, IEEE Transaction on Automatic Control, vol. 52, no. 11, pp. 20852102, 2007.
[8]
References III
[9]
X. Y. Yan Yan and S. Yu, Quantization eect on sliding mode control of a second order dynamical system, 12th IEEE International Workshop on variable structure systems, pp. 243247, 2012.
[10] C. M. Goran Golo, Robust discrete time chattering free sliding mode control, Systems and Control Letters, pp. 1928, 2000.
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The Sliding Mode Control For Power Electronics Devices

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THE SLIDING MODE CONTROL FOR POWER ELECTRONICS DEVICES Presentation Based on Literature Survey,Research Pr

Sliding Mode Control and Power Electronics Switching Power Converters

Higher Order Sliding Mode Control

Introduction with Literature Survey

SMC for Power Electronics

Figure: AC-DC Voltage Connverter.[2]

Figure: AC-DC Voltage Connverter-Simulation Model. [2]

Figure: Time response of output voltage. [2]

parameters for Ac-Dc converter model

Switching Power Converters

Figure: SMVC Buck Converter. [1]

The state space model is given by the following equation. x1 x2 0

1 1 Vref vi )x2 x1 + <0 rL C LC LC 1 Vref 1 )x2 x1 + >0 2 = ( rL C LC LC

where, 1 = J x for 0 < S < k 2 = J x for k < S < 0 J = [ 1]

Figure: SMVC Buck Converter-Simulation Model. [1]

Figure: SMVC Buck Converter-time response of output voltage. [1]

parameters of SMVC Buck converter

Figure: Regions of Existance of SMC in phase plane: >

regions of Existance of SMC

Figure: Regions of Existance of SMC in phase plane: >

phase plane analysis:Buck converter with SMC

Figure: phase trajectory of states. [1]

Adaptive feedback for SMVC buck converter

Hence the sliding function becomes, S= ir (Vref vo ) iC vo (11)

Adaptive Feedback SMVC Buck Converter Simulation

response of output voltage

phase plane analysis:buck converter with adaptive SMC

Simulation Results and Discussion

Higher order Sliding Modes

Figure: Trajectory of twisting algorithm. [4]

Possible Research Problems

Scope of Research and Research Plan

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