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Energies 2017, 10(9), 1286;

A Real-Time SOSM Super-Twisting Technique for a Compound DC Motor Velocity Controller

Departamento de Ingeniería Eléctrica y Computación, Instituto de Ingeniería y Tecnología, Universidad Autónoma de Ciudad Juárez, Chihuahua 32310, Mexico
Centro Universitario de los Lagos, Universidad de Guadalajara, Lagos de Moreno 47460, Mexico
Facultad de Ingeniería, Universidad Panamericana, Zapopan 45615, Mexico
Facultad de Ciencias Físico-Matemáticas, Universidad Autónoma de Nuevo León, San Nicolás de los Garza 66450, Mexico
División Académica de Ingeniería y Arquitectura, Universidad Juárez Autónoma de Tabasco, Cunduacán 86040, Mexico
Author to whom correspondence should be addressed.
Academic Editor: Chunhua Liu
Received: 20 July 2017 / Revised: 17 August 2017 / Accepted: 24 August 2017 / Published: 29 August 2017
Full-Text   |   PDF [1563 KB, uploaded 29 August 2017]   |  


In this paper, a real-time robust closed-loop control scheme for controlling the velocity of a Direct Current (DC) motor in a compound connection is proposed. This scheme is based on the state-feedback linearization technique combined with a second-order sliding mode algorithm, named super-twisting, for stabilizing the system and achieving control goals. The control law is designed to track a periodic square reference signal, being one of the most severe tests applied to closed-loop systems. The DC motor drives a squirrel-cage induction generator which represents the load; this generator must work above the synchronous velocity to deliver the generated power towards the grid. A classical proportional-integral (PI) controller is designed for comparison purposes of the time-domain responses with the proposed second-order sliding mode (SOSM) super-twisting controller. This robust controller uses only a velocity sensor, as is the case of the PI controller, as the time derivative of the velocity tracking variable is estimated via a robust differentiator. Therefore, the measurements of field current and stator current, the signal from a load torque observer, and machine parameters are not necessary for the controller design. The validation and robustness test of the proposed controller is carried out experimentally in a laboratory, where the closed-loop system is subject to an external disturbance and a time-varying tracking signal. This test is performed in real time using a workbench consisting of a DC motor—Alternating Current (AC) generator group, a DC/AC electronic drive, and a dSPACE 1103 controller board. View Full-Text
Keywords: compound DC motor velocity controller; feedback linearization; second-order sliding modes compound DC motor velocity controller; feedback linearization; second-order sliding modes

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Morfin, O.A.; Castañeda, C.E.; Valderrabano-Gonzalez, A.; Hernandez-Gonzalez, M.; Valenzuela, F.A. A Real-Time SOSM Super-Twisting Technique for a Compound DC Motor Velocity Controller. Energies 2017, 10, 1286.

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