Ww ee a of Sara Bgmeig OREE) Tek 4 Pte ty Pie ‘Sipcnter Ober 2013 Sliding Mode Speed Control for Induction Motor Drives with State-Dependent Gain Method ‘Marizan Sulaimen, Festal AiniPatakor, Zui Ibrahim [Abstract—The main cal of comentonal sig mod ona i ead by sconce Peer ih comet ct whch haw catering phenomenon vs eee th ‘Koaurngpenmenon i icon ee 8 anew dvloped eget Af said Fron Sl ying unr eer garth ged ar tapndet replace he etna ta tn comconl sing mats onal kown at te vehig gs ‘Mesa ora s roportioe oc Catrig ee ond moval lrg vic an eR tone tc ucertac, Ts research propane 0 sa-cpenn dg ode hl which th vchng pt and Bony irs proportional 9 ego fection of ‘ee iting mac comrle ta re be Bday le nd sci gain il hoe ‘Syult cevnts of te olrdves gue. T nto moar cna fy wor Shor sree, ang idet fold cinsion and Space Veco Fase Wh Medion ‘Sou Exprtncnl rel have ged thatthe propeed eden og, me ‘Sal ae del wi exert lo hbase az wel asec fe fram chtring ‘Froromenoe compare! 10 comentona lig made comrl The propaed clr ad he clonal nee we dled n itl egal proceung board Th res hate nf th he eden sing made conor wth regard era at seeeSona an inane erences etn hen compare io comentonal sing ‘tes cond and ac oundry Ue slg made covrl.Coprght © 2013 Prate Worthy Pree So Ais reserved. eywords:Sae-Dapndent Gain, Sling Mode Conrl Induction Mtr Dive, Ft Sigma menclature 1. troduction isn crisit Na) “ee nuion es ae wii ed nn So Sector ee Dey ee eos 2° Siete SEES OF feat nominee On Lig Binlguth nmr tens 4 Tolmetet ates meet di a nt sl ce caer wot nett wus ceiyet te oe i Ragone ec ba ce ela ay Tages Trees ese he oct Faber nas aise pont nse i nice Fee goumce nt eee panty fet nol poi a & sents SEL tal ney Sy nr Mais det, ASME ce dow te pe of on Seer og «ember er ech ese pecan at nts i Stormaercrinetecreismse Qiang be ered} nt wil eps % Rotor ens ‘Se parommes ofthe ncn a es Teste Deka ra Y Fister con pan b te oan iin te | on” Racropot coving vinon fot fae ncon a ot SP Reapers nn ssh h none tana st Sct Sime RELERSGUS Tsun Giacunlie mene pmeer rte fete Sa ee madaasvs hol downey armed ecco Pe See Soe ts ila ciate on se coded james) owarpineendl Se 0S crpdcuske 213 Cpr 03 Pi Rey Ps: Sr Aghaarizon Selena Ftd An Paar, Zi Bah ‘Anong he rota contol sgpitims, wb ste contol (YSC) wing ling mode seid ‘Sy atcnton sce he it pga ne Shing se fear" GMC) tae muny goof fevues such se ‘Somer to pamocter vaitoy o on stnoa, fh yume" tenancy sig of dough aod ‘plement [5 [6 The ft comet of VOC we {Ee propeed and aborded nthe cary 1950 ae Sov Union by Snel yoy an overs cores ‘Sting mote onal be oeesuly inp tre saplings ssc t in be bot 7 (8 ‘BE motor xno! (9), (10) peer saps (1, AC ‘suo [I2}(19] and my eer apphentons. IAC ‘Sor iv aiding made cone iano ‘tr opin sped coool 11 [17s neo a ‘set cater (1) ws spd tere in sess Set doesn fulvieg 9 oteteone he problem soda. wih Secale srocire conto, th soled haterng Petersen Costesng i he hih-equney ruins othe contol ott, rough abot yt Nik speed swtcting ness fre esahoet oft ‘bang mace. rsa! plementation charg Heh andesrabe bee may rae unmodeled Homey pest uni, and asap rel In Yafoesen sly (2. Tae aa pewomencn te inde fo unernblrs avh 36 fw Sono ‘sun, high wear of moving mobil pers ah owe leone hgh faqene an ead thigh ee [2a Widow pope eeatmens inthe cent dss, ting cane «maj estacteimplementng Sing mode contol in we ring apps, "Te essuton tha eased ty ts ih quencies oft sldig mode cob exc vanaf deals Br be cleted nop sym, Unmodelt fasos ry ‘ner snr, ect a pov eee te Fines mottling procs bese they We genraly $iucanly fist tan ain sen deans, Tonee, sce the lel sling tage Sas ae tnt ft ll tem dyeame oul be canes i te cone ln. a sdion, charg Teel ao Ssnce by te ve ofthe sclig gan: Saching sn cot gw pt a of ger wloe of swig” gain sat te arto, Ac age ine Cn fw Sin est ~. ghosts sgn triage tne ‘obustiasand acing perfomance 3). “muh eres ert ve ood baste sed kn crams ae ie ee arantey prow sharing wel doe 10 regaire = deal mol ol sem components [1A Lleaaedsesmption of no snot namie In ‘hive eysom wing tie mode sped ona [20-428] inca op fee rs a Set oe tod mei sep Tne peck fedocechiting and so give pod” ng Devermen The sie-depenene_swiching an ier wae ating ocd ce ive syns oer of ped asin erfomon od ever Tad reson The compan of fe oe ts nivel ie mie invert be reseed ina tne spetmentl i [et gm] _ Speed he controller e020 Pe Hy eA eran i Sk ering FLASMerz Social , Sliding Mode Speed Contro! Design Fig. 1 shows te ove Mek ag of indi rm ie eprops epee rod ‘fang nde cone! is employed ont op, mie the cuan oop i ued te fonenton Fr specd ‘Scaler Bl on complet leet Feld oem, Sung mode coal wi lng sing sorice © {byepedUoderthe compl fd red cot cha eo free fran mor ee Ra Kily o wher, ri the tequ costa nd defined tows ® wher, mechanical equation ofan ndcon motor Ta J64B0,+%, ° here Jd he nia conan ofthe ndction ind vice Bn ontlere rpc, Tes metal ony i the soos mec sec aT, ‘tnt he eer rq on non met. ‘ing 2) oot an L()=(OAda)a HHT OD wie, O=-BL, Bak/d. f Dae ABS, Ab AK,/J. Te taking spect eme is ett @ wee ot ped rent. Taking rate THEs Gh espe tine ite = (0-020) ° 4(0)=00(0)+O(0 (+4) © Ma, (etierk o Holle Gen © “The aiing vibe) can be deiaed wih inega componente 25) Sieel-[lesdieee ac 922 Pre ry PS -Agirt Ait Ptr, afi iain where, Kis» ear ethck gi Woe te sig tendo oecursan sing sutice en S()=S(0)=0 td teres the dail tla ofthe tcking robin in Eq, (Q) eeu governed by te mE e( (088) bers (0b is designe oe sly neat, Based Tete sng siti By 0, ae Blowing an = p20) o ‘evil mccain se=i-ban(8) wr sii hn Si eng vale and Tyr the pn fei ele a: irs(yoo tse sesi{, Pirly he contol tt op gals str cast seers Fg) cam tnd by dey sobstang 2) Kol) Bevan S(O) 5 a “There the siding node omar rave he speed tncing pobien or he idtoe mo. Wh ‘Boao! eosin ia gute train ad fad The ans nor cet refeence of £5 (14) depend te detsucns col, sgn econ ‘Wich hads to catering, Then n Bip he enon flows ° ms senoisies§ os ‘minted, nd the sigmoid function takes pace for tho Swhle open. Whee 9° a ete-depenen all “Tey touny ayer coed onthe proposed st depot aie esd eacton is prealtriien(o'sy+8) 00) he ey enn inn "vhost tn else bil proce 8 sna ia fr ty A te aman Ref ere rr NSk Mercan Sima Fal Ait Ptr, Zien Ue hres no mney at te ten, sing rete, wll potoee cont manu seine mau ye Whi the sae dpedent sviching ‘pis dsp 1 be propos ce ssl sgmeid es (jiem(o:s)l+s) are is com ich sould eno free ‘Besidee meee osu Haren mcrae ie ‘ena wiles a paseo, 8 sey nuit swething ai nay ergs ten smo or caret eeece igs fr Be plopsed sing, mode (Sihouer an be one sg =He(-Prsien(o's)-Fau OD wehbe proposed ete depts sng mode “Sohal BSR the wih of tous ayer ne ‘scing gam re ind fo coe ie tacking e6¢© ppmcl Seo Thece, te 6 eal «an "ching gin dye on tears of the gems Fecha yaryigbondey yer niga Fncton ei ty Set nn a IIL, Experimental Ionplementati “The proposed ste-depndet un of sins mode conti ty sept BSP ests ive, Th (re tine esprmental pleneted ing DSP LAS historia teak Soh harder and gh 205 ny rane Ari ned othe. Te fara cof fr hs wok an SEB ig 2 te onl and ve Dowd is 2s Sos t3fsa0F 2512 a Dig Mec Coal Bex cmt ear en inte fe Et “Tos compar te font coming cebogsng. te propan inf emecielt DSP wing allel prt Te oE"Camponer Sido (2S) version 3.1 ort ‘sae wsur onal sgn ib" aan nde {ee DSP contol, Two pt caret of he on Seren re mune! (sng cet a6 pd mes nel ing m ee "Sunstein ae sto be DSP toad vie scdomatiodighal soweres. Fie 3, stows te Tet uy rte eens: Teindssine mote ane ge YRS wsMerton Sesion, Fatal At Par, Zi Prahin “The preter ofthe maar a, R46. RPS.5, reBSiat, LoO3ISSH md pO The ead ‘Spee enna opt exon 300 ple pe ‘tation The encoder gps been ota (Srode So plies pr eatin The aise si prs as is am al Dene {Cut DMCSO0 can sue, bik meats atthe ‘cd sped eae 900 rp. snl bent a Sang higher DC valine le fn ghee tof (Ege st egue. "esr gs caret eee Tent SA alte te Tho otal greeters ed fer wo Ke, fo. td forthe SDS cont ‘Sif dy a dy ae 091 ad 095, whch lve ‘Shp often gern 005 0 0005. TV. Results and Discussions errnce of te atedependent gan meed of ing mode colin expemenl test The oe seid oveogpng onde ste sane age he fs 2 ak hough Mala om sloop tain tht fe been ve fom (en) fie fem (Seliope Pgs. show the sag perfrmanes of {fe infon motor ve Aled sped wit Coventanal SMC a fn Bq (1) sd the proposed SDME ove Eq (8). The commer tne a ad onion in cst make fi oaparien, Pm te she ee teen be eae ‘Sones ae obtained forthe bth cours dng tsi High ampltoer of catering eur instr ‘is snr cet efter of SMC ages ai elton oped sponse ding tay se lees, th catering ft isin eset oy popuscd sagen ing mode con, ‘Beto! ny sing modest, sleaon ST tosday layer canna tem of lating hating Toe secede easel oe compris of Soot bowndey ler Yor teas, es val of| ‘keting gon cana for epein' 03,035 nd ‘1G. Te vlee i hown fom he near salt te dim of swing pin se f SDSMC. Wal ee ae body lye shore (208,000 and 000), tt eoge of maimam sof imam bound [jer SDSMEA higher au of sting ein at ‘Sedo wed Hgh eating hx opera ih a “Te pnt of te ped cradle st foc tcl od comma fr eens aed ate of Siching in copied i Figg So igs 7 ‘Susy shown hat reoe i combina ‘Shandy tyr end ne shag pi ae es st ‘Soeeine orn sor pon aren enc fe Sell ty layer whic ales the cclaion of ‘pont pum. Pom te ge, ons Hat Se choi in stacr ges coven reece hea swing i vale cease Ths, im te coal that vey small bundy er Wl {eta sigmm fusion al Garng level ely opengl resis gam aoe. Thefts et rrr ston mute. ade tt desis ‘pone hd ain of sie mae ont, Sine the Toaminy jer 80005 poder ips curing, he Prose of toe the bean ye rete chateing es ot meres So iat sete ely to Senay injr b esieed, tat my 0S end 405. spt pen pi me nga nl ge gon eet eae o Fa: ati pd nape ving pi, ethane eSB epee) tel fit Cpr 0201 Pe Pry Pro SA ere inl eo Bt ging ALM seSeren Seeman, Flt A Pata, lie rh: ee of pind ded ect nit esp spon of bed wie Toe irate oyTcnmeing oe mor mm Hess wae pate © sold be tele ae tonnes wt at 80.08 eos acing an, 035 eal 08. sit 2sNm pedo Sey se il eed fig Tes te sn eo oe ita et von As pet see lege svcng om we nd sl ane era mage 6 pt bene al on ae Spee nl ang gc os see fae oc sn ing ee a + tc = ‘snot camel somone. This is port ht these eae rs atl hs sper petoranse SttSneoepe ed gin sing ede neo reat he emparcon reset an everaing 6 ted epace ane a compel othe elt Gta ey SD, Fy ony ao ‘Smton a itching git 043 ad oda ie {ibs cower oparina. Pom Fig. 1, i CRESS Sste ve eter tcking pone. The SET ce stp ighe or SSM bons of ficient of sich pain surnowt e id once 6 Onn pdnep tht e035 iby yen ORME eo) en ef" ied ix omnia cig in 0 ete ty ete TOE ee Pec fi] rc 9281 Moy Arran TOT ES} “3 rn s0 ena) al ant ee El gi, PBSMaran Sleiman, Ft in Pathr, Zale oie One entangle eat ad a state-dependent sic ule nd bday ier th opend on sil uneton vy etn [eed mse repose lth costa eee the oun yer ale il hangs fn te ngs ‘pend on vse Ti wii ote i ty minim Wi i onal pean ition exe ad, convey the bounty Iyer nue les alo Sen, ‘te fr beng resco ifthe yuna, Ve Conclusion ‘pow lain is be desloge fr pect canto two on esig roe SNC A esi nes Sih snging toa yer and ring ‘Devi dese arate doped epic he eouinvos incon i ceverine siding, mole fourths cena erpay In oberioop. of Inlet fet od contol of he pe Inction ‘Sc dive, hires he nce Sel rote ‘Sil pve empbas kick consis of vo teat pe ops on ep. et out! e wne propel SDSSIC, wh Spe Vee Flue Wilt Mocuine srugy” Acme formas of conven Se, SMMC i ed Soundry Teer aod SDSMC tases made penta ri. Moe of te seus suppor tht ‘SHSM ts shown sper prconances Whee tested ‘rnd son lane priv 20 ae Rar Pee Ahram Wit SOSMC; te catering phenomenon ht eu ‘SMC iscomplely ett. Acknowledgment The aaors with to thnks Universit Teal alsa Malka fo Ganeng te roars ude he (Gon ERGO VREITROD L000 References 1 2. Sin ai ep" Cn ae 1 ET a tg Sina ed of a pee abae aber oy Meee Rane ra on Bh geeetg corn ee oy Bea las meee aan ee Sa agg aLorca Seaman Ft nt Ptr, Zi raion “Tamacton oy fran, Ya ZT, p. 696-85 mm Seah ps Jeet frat ren ont an ma sinh os Com are er toe Smtr tte bat tn ene a ene ns Sat namic ce mee (1 ae an reeset Be sleet ameneae cipher sriciey af Sas Ue Spb wl Nest Oe emer race ie Sete ean Oe eee Tae oe iii Rett fa oe ee tno a Cn it eer ieaes ie = aed Si se Ss Rare cae oa Sa i se amc eka neo ‘Sea Crl MEICO. Shen ES i 30 ee My Se Arai rd Authors? information ety toa ig ee Mar a (Gti ok a Tone Ne ers aon ann Seo mirc yaaa aes Ser tel ew erate man acs {Stee eh Ss emai i Eun ger LAN