IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 10, NO.

2, MARCH 2002 169

Incremental Motion Control of Synchronous

Reluctance Motor Via Multisegment Sliding Mode
Control Method
Kuo-Kai Shyu, Member, IEEE, and Chiu-Keng Lai

Abstract—This paper solves a particular incremental motion
control problem, which is specified by the trapezoidal velocity pro-
file, using multisegment sliding mode control. Each segment of the
multisegment switching surfaces is designed to match the corre-
sponding part of the trapezoidal velocity profile, so that the motor
dynamics on the specified-segment switching surface have the de-
sired velocity or acceleration corresponding to the trapezoidal pro-
file. The multisegment sliding mode control is applied to a syn-
chronous reluctance motor system to demonstrate its effectiveness.
A PC-based prototype system is built to verify the validity of the
proposed scheme.
Index Terms—Incremental motion control, position control,
sliding mode control, synchronous reluctance motor, velocity
control.
I. INTRODUCTION
I N THE past decade, dc motors have been widely used in fac-
tory automation as high-performance drives. However, the
mechanical commutators and brush assembly make dc motors
much more expensive than ac motors. Besides, the use of me-
chanical commutators may produce undesired sparks, which are
not allowed in some applications. The inherent disadvantages of
dc drives have prompted continual attempts to find better so-
lutions instead of dc drives. An attempt was made to use ac
drives including synchronous and induction drives. Neverthe-
less, the synchronous motor needs slip rings, brushes, and in-
sulated winding on the rotor. On the other hand, the induction
motor has not been widely used in high-performance drives due
to its high nonlinearity and time-varying characteristics.
Traditionally, synchronous reluctance motor (SynRM) has
been used as a drive source for many years and has been
regarded as dynamically inferior to the synchronous and
induction motors. However, the SynRM exhibits advantages of
simple construction and relatively simple control. For example,
it mechanical simplicity is marked by the absence of slip rings,
brushes, and dc field windings. For the control point of view,
the SynRM is simpler than the induction motor, which requires
the computation of the slip in high-performance servo drives.
Manuscript received June 7, 2000. Manuscript received in final form July
20, 2001. Recommended by Associate Editor D. Dawson. This work was sup-
ported by the National Science Council of Taiwan, R.O.C., under Contract NSC
89-2213-E-008-074.
The authors are with the Department of Electrical Engineering,
National Central University, Chung-Li, Taiwan 320, R.O.C. (e-mail:
kkshyu@ee.ncu.edu.tw).
Publisher Item Identifier S 1063-6536(02)00321-4.
1063-6536/02$17.00 © 2002 IEEE
In view of these advantages, many researches have devoted
fresh attention to the control of the SynRM [1]–[8].
Variable structure control (VSC) or sliding mode control
(SMC) has been known as a very effective way for the posi-
tion and velocity control of motors because it possess many
advantages, such as insensitivity to parameter variations and
external disturbance rejection, and fast dynamic responses.
Consequently, VSC has been widely used in dc and ac motor
drives [9]–[15]. The system dynamics of a VSC system can be
divided into two phases: the reaching phase and sliding phase.
The robustness of a VSC system resides in its sliding phase,
but not in its reaching phase. In other words, the system per-
formance of the VSC system is mainly designed in the sliding
phase. Therefore, the reaching phase is designed to force the
system trajectories into the sliding phase as soon as possible.
The system dynamics in the sliding phase are described by
an equivalent autonomous system with exponential stability.
Using VSC, Liu and Lin [7] presented the speed control of
SynRM drives in which the speed dynamics in the sliding
mode exponentially converge to the desired speed. This means
that the conventional VSC cannot satisfy the requirement if a
constant acceleration is needed. Furthermore, it was pointed
out by [16] that the direct inductance of the SynRM is affected
by the operating frequency. Thus, a robust speed controller is
necessary when the SynRM is used for adjustable speed.
Consider some control applications, such as robot, elevator,
and machine tool drives; we want to move a given load, stop it at
a specified position, and hold it there until a subsequent motion
command is initiated. This kind of start–stop motion is called
the incremental motion. To make sure the load can be moved to
the specified position at specified time, a desired velocity pro-
file is designed beforehand. One of the most commonly used ve-
locity profiles is the trapezoidal velocity profile. It includes three
parts: constant acceleration, constant velocity, and constant de-
celeration. However, constant acceleration and velocity cannot
be designed by using the conventional VSC. Accordingly, this
study proposes a multisegment sliding mode control in accor-
dance with the trapezoidal velocity profile for a SynRM drive.
It also shows that the reaching phase of the conventional VSC
does not exist in the multisegment sliding mode control, because
the system dynamics are in the sliding mode at the start. Conse-
quently, the robustness of the controlled system can be assured
from start to finish. Finally, the multisegment sliding mode con-
trol is applied to the synchronous reluctance motor system to
demonstrate its effectiveness with both simulations and experi-
ments.

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170 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 10, NO. 2, MARCH 2002

II. SynRM MODELING AND TORQUE CONTROL

The – axes dynamic equations for SynRM are described as
[4]

(1)

(2)

where and are the , axis stator voltages; and

are the , axis stator currents; and are the , axis
inductances; is the stator resistance and is the electric
frequency.
The corresponding electromagnetic torque production is

(3)
or
(4)

where is the pole number of the motor; is the current angle;

, and
Fig. 1. The positive and negative torque current vectors of the maximum
torque control of the synchronous reluctance motor. (d , q : stator stationary
d–q axis; d , q : rotor synchronous rotating d–q axis; ! : synchronous
(5) rotating speed).

The associated mechanical equations are III. INCREMENTAL MOTION CONTROL OF SynRM
The rotor dynamics and the MTC torque equation of the
(6) SynRM given in (6)–(8) are rewritten as follows:

(7)

where is the rotor angular displacement; is the rotor ve-

locity; is the inertia moment, and is the damping coef-
ficient. (9)
There are four torque control strategies for the SynRM [4].
They are: maximum torque control, maximum power factor con- The incremental motion is to move an object at rest at time
trol, maximum rate change of torque control, and constant cur- to a fixed desired position at time , and then stop it. The
rent in inductive axis control. To have the property of max- control process is subjected to the desired velocity and acceler-
imum torque per ampere generation, the maximum torque con- ation. So the incremental motion control is performed under ve-
trol (MTC) strategy will be adopted in this study. locity control in obedience to a desired velocity profile, whereas
The MTC mode sets the current angle for a positive stopping is done by position control mode. One first has to se-
torque generation and for a negative torque genera- lect a velocity profile which rapidly changes the load position in
tion. Therefore, the torque equation (4) becomes discrete step. The velocity profile (i.e., the motor and load an-
gular velocity as a function of time) should satisfy the motion
(8) constraints of the system. The velocity and acceleration limita-
tions are generally taken into consideration for the determina-
where ; for a positive tion of velocity profile. To satisfy the velocity and acceleration
torque and for a negative torque. limitations, a trapezoidal velocity profile is usually used. The
The concept of MTC is shown in Fig. 1. In it, is the rotor trapezoidal velocity profile is shown in Fig. 2. It can be seen
position with respect to phase A current vector; – and – that the trapezoidal velocity profile is composed of three parts:
axes are the stationary and synchronously rotating – axes; acceleration (from time to ), run (from time to ), and
respectively. Besides, a positive torque is generated by placing deceleration (from time to ).
a current vector along the rotating direction. On the other Unfortunately, it is not easy to control the motor motion in ac-
hand, a current vector is placed against the rotating direction cordance with the given trapezoidal profile. Because the system
to generate a negative torque. dynamics are subjected to unknown load perturbations. There-

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SHYU AND LAI: INCREMENTAL MOTION CONTROL OF SYNCHRONOUS RELUCTANCE MOTOR 171

To check the motor acceleration on , one only needs

to take the derivative of (13) with respect to time,

Because , it is obvious

Thus, the motor dynamics on the acceleration segment (13) have

the desired constant acceleration .
Fig. 2. Trapezoidal velocity profile for incremental motion. Remark 1: Note that is also a solution of the equation
. However, in view of (12) with initial condition
, one can see at ,
fore, the object here is to design a multisegment sliding mode which means will not stay at for . Thus,
controller according to the trapezoidal velocity profile shown in is the solution of .
Fig. 2 with 1) acceleration segment (acceleration ); 2) run After being accelerated during the time interval ,
segment (velocity ); and 3) deceleration segment (decel- motor speed arrives at the desired speed . At the time ,
eration ), so that the motor rotates in obedience to the the control is switched to the run segment .
trapezoidal velocity profile despite of the load perturbation. ii) Run segment
With a specified rotor position , which is assumed to be a
constant, one first defines the position error and its derivative as (14)

It is apparent that if the motor motion stays on the segment

(10) , the motor velocity , which to-
tally matches the constant velocity part of the trapezoidal
velocity profile. Therefore, after running motor at con-
Combining (10) with (6) and (7), one obtains
stant speed during the time interval , the
motor should be decelerated at in accordance with
(11) the trapezoidal velocity profile.
iii) Deceleration segment
(12)
(15)
Note that (11) and (12) hold because the specified position is
a constant. Similar to the acceleration segment, one can check the
According to the error dynamical equations (11) and (12), a motor deceleration on by differentiating (15) with
multisegment SMC is proposed to drive the motor from initial respect to time
position to the specified position according to the trape-
zoidal velocity profile given in Fig. 2.
The multisegment SMC is composed of two modes, the ve-
locity control mode and position control mode. The velocity con- Accordingly, the motor dynamics on have the
trol mode is used to drive the rotor to the desired position and has desired deceleration .
three segments, while the position control mode includes only one Remark 2: It has been shown that the motor dynamics on the
segment and is used to hold the rotor on the desired position. switching surfaces , , have the acceleration , run
velocity , and deceleration , respectively. Therefore, the
A1. Velocity Control Mode motor can be driven to the specified position in accordance with
the given trapezoidal velocity profile by sequentially starting the
In this mode, three sliding mode segments ( , , and ) surfaces , , and at time , , and , respectively.
are given, corresponding to the constant acceleration ( ), After the motor motion is driven to the specified position
constant velocity ( ), and constant deceleration ( in accordance with the trapezoidal velocity profile, stopping
). Note that is not necessarily equal to . should be made by switching the velocity control mode to the
i) Acceleration segment position control mode when motor rotates to the desired posi-
tion at time .
(13) A2. Position Control Mode:
In the position control mode, the following position control
where is the initial position error. The accel- segment is proposed:
eration segment ensures that the motor dynamics sliding
on the segment have the desired acceleration . (16)

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172 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 10, NO. 2, MARCH 2002

Fig. 3. Multisegment SMC-based incremental motion control for synchronous reluctance motor system.

where is a positive constant.

Remark 3: Note that in the conventional SMC, only one
sliding mode (16) is used; in the multisegment SMC, however,
the sliding mode (16) is adopted only when the motor rotates to
the desired position. The difference between the conventional
SMC and the multisegment SMC is that the reaching phase
exists in the conventional SMC rather the multisegment SMC.
The previous analysis shows that motor dynamics on the
switching surface , , completely match the
trapezoidal velocity profile of the incremental motion. How-
ever, keeping the motor dynamics on , ,
is difficult because of the existence of disturbance load. To Fig. 4. Phase plane trajectories of the multisegment SMC system.
keep , a control law should be designed to satisfy the
following sliding condition. To ensure the validity of (19), one can differentiate (13) with
Lemma [17]: If a switching surface of the controlled respect to time combined with (11), (12), and (18). After some
system satisfies the following sliding condition: manipulations, one has

(17)

then the existence of the sliding mode, , is assured.

The desired control law to ensure the sliding condition, (17),
will be expressed in the following form:
(20)

Accordingly, if the following gains, and , are given, the

(18) sliding condition of the acceleration segment (19) is satisfied:

where and are parameters to be designed in accordance if

(21)
with the corresponding sliding segment. if
if
B1. Velocity Control Mode (22)
if
First, the acceleration segment is considered. The parameters where and .
and in (18) will be designed to satisfy the sliding condition Note that the acceleration segment control is used to accel-
of the acceleration segment erate the system at rest to the desired velocity with accelera-
tion during the time period . The motor velocity will
(19) reach the expected run value at time . At , the control

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SHYU AND LAI: INCREMENTAL MOTION CONTROL OF SYNCHRONOUS RELUCTANCE MOTOR 173

Fig. 6. Simulated position responses. – – – nominal system, nominal system

with sudden load at 0.1 s, 1 uncertain system with L two-thirds of its nominal
value and sudden load at 1.2 s.

if
(25)
if
where and .
After running with the desired velocity during the time
period , the control has to be switched to the deceleration
segment at . The following control gains ensure the
sliding condition of the deceleration segment :
if
(26)
if
if
(27)
if
where and .

B2. Position Control Mode

After the velocity control mode is completed, the motor has
been rotated to the desired position . At this moment, stopping
should be made by switching the velocity control mode to the
position control mode. Similar to the velocity control mode, the
control object is to maintain the sliding conditions of the posi-
tion control mode, . To this end, the following control
law is proposed:

(28)

Fig. 5. Simulation results of nominal SynRM system controlled by the where

conventional SMC and multisegment SMC conditions: (a) Position responses.
if
(b) Velocity responses. (c) Phase plane trajectories. (29)
if
will be switched to the run segment . Likewise, to maintain the if
(30)
motor dynamics sliding on the run segment, one has to ensure if
the sliding condition of the run segment
if
(31)
(23) if

To satisfy the sliding condition (23), the control gains and , and .
are designed as The corresponding block diagram of the multisegment SMC-
based incremental motion control and the phase plane trajecto-
if ries of the synchronous motor systems are shown in Figs. 3 and
(24)
if 4, respectively.

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174
Fig. 7. PC_166-based multisegment SMC synchronous reluctance motor system.
IV. SIMULATION RESULTS
To demonstrate the effectiveness of the proposed control
strategy, simulations are first done using SIMNON software.
The characteristics of the SynRM are given in the Appendix.
The control object is to rotate the motor radians in 0.6 s
obeying the trapezoidal velocity profile with
rad/s , rad/s , rad/s,
s, s, and s. The control gains and
are set as , for , .
For comparison, the conventional SMC is used to drive the
system to the same position. Because the system dynamics on
the conventional sliding mode converge at
the rate of . is set to have the settling time of 0.6 s.
Simulation results of both methods are shown in Fig. 5 under
nominal conditions. Fig. 5(a)–(c), respectively, show the posi-
tion responses, velocity responses, and phase plane trajectories
controlled by the conventional SMC and the multisegment
SMC. Fig. 5(a) shows that both control methods guarantee
that motor rotates to the desired position. However, the long
settling time of the conventional SMC is due to the existence
of reaching phase. Note that Fig. 5(b) shows both the velocity
and acceleration responses controlled by the conventional
SMC overshoot the desired velocity and acceleration. The
main reason is due to the uncontrollable reaching phase of the
conventional SMC. The related phase plane trajectories are
shown in Fig. 5(c).
Next, to demonstrate the robustness of the proposed control
method, simulations are made under three conditions: nominal
system, system with sudden load, and system with uncertain
parameters. Fig. 6 gives the position responses of: 1) nominal
system; 2) system subjected to sudden 1.5 Nm load at 0.1 s; and
3) uncertain system with reduced to two-thirds of its nom-
inal value and with an impact load at 1.2 s. Comparing the re-
sponses given in Fig. 6, one sees that the proposed multisegment
SMC-based SynRM system is robust to the parameter perturba-
tion and external load disturbance.
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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 10, NO. 2, MARCH 2002
V. EXPERIMENTAL SYSTEM AND RESULTS
A. Experimental System
To confirm the feasibility of the proposed control scheme,
a prototype PC-based SynRM control system is built. The
system is composed of the Pentium PC, a 12 bit D/A converter,
a 1.5 hp SynRM, and a hysteresis current controlled PWM
inverter. The multisegment SMC algorithms are implemented
by the Pentium-166 PC. The position signal is sensed by a 2000
pulse/rev encoder and is fed back to the PC through a 16-bit
up–down counter. To evaluate the robustness of the proposed
control scheme, the SynRM is directly connected to a brushless
dc motor, which provides a controlled counter torque as a load
disturbance. The program of managing data input–output is
written by the assembly language. The multisegment SMC
control algorithm is developed in the mathematical coprocessor
language. A sampling frequency 5 KHz is used for the position
and velocity control loop. Experimental data are collected by
PC and processed by MATLAB software. The block diagram
of this experimental system is shown in Fig. 7.
B. Results
To demonstrate the validity of the proposed control method,
experiments with control object identical to the simulations are
done. Experimental results adopting the multisegment sliding
mode control and the conventional SMC are given in Figs. 8 and
9 for comparison. Fig. 8(a) and (b), respectively, show the po-
sition and velocity responses of the system without load. From
Fig. 8(b), it is seen that the velocity response of the multiseg-
ment SMC matches the trapezoidal velocity profile, while that
of the conventional SMC exceeds the maximum velocity. More-
over, the conventional SMC has a slower response than the mul-
tisegment SMC due to the reaching phase. The corresponding
phase plane trajectories are given in Fig. 8(c). It is shown that
the reaching phase exists in the conventional SMC but not in
the multisegment SMC. The related current responses of phase
A are given in Fig. 8(d) and (e).
SHYU AND LAI: INCREMENTAL MOTION CONTROL OF SYNCHRONOUS RELUCTANCE MOTOR 175

Fig. 8. Experimental results of the incremental motion control system using multisegment SMC and conventional SMC. (a) Position response. (b) Velocity
response. (c) Phase plane trajectories of the conventional SMC and the multisegment SMC. (d) Phase A current of SynRM controlled by conventional SMC. (e)
Phase A current of SynRM controlled by multisegment SMC.

To evaluate the system robustness, a 1.5 Nm load generated
from a controlled brushless dc motor is added at s. The
sudden 1.5 Nm load at 0.1 s is to show that the conventional
SMC is not as robust as the multisegment SMC because of the
reaching phase. The position responses with and without load
controlled by the conventional SMC and multisegment SMC are
shown in Fig. 9. As expected, the system response controlled by
the multisegment SMC is less affected by the load perturbation
than the one controlled by the conventional SMC.
VI. CONCLUSION
This study has presented the multisegment sliding mode
control according to the trapezoidal velocity profile. It has shown

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176 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 10, NO. 2, MARCH 2002

Fig. 9. Position responses of SynRM with and without load. (a) Conventional
SMC. (b) Multisegment SMC.
that the dynamics of the multisegment sliding mode controlled
SynRM fully satisfied the desired velocity and acceleration of
a motor in the velocity control mode of the incremental motion,
and it is invariant to the perturbations. It has also shown that
the proposed method is more suitable than the conventional
VSC for the incremental motion control of the SynRM. The
validity of this study has been examined by simulations and
experiments.
APPENDIX
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Kuo-Kai Shyu (M’97) received the B.S. degree from the Tatung Institute of
Technology, Taipei, Taiwan, in 1979, and the M.S. and Ph.D. degrees from the
National Cheng-Kung University, Tainan, Taiwan, R.O.C., in 1984 and 1987,
respectively, all in electrical engineering.
In 1988, he joined the National Central University, Taiwan, where he is cur-
rently a Professor in the Department of Electrical Engineering. From 1998 to
1999, he was a Visiting Scholar with the Electrical and Computer Engineering,
Auburn University, Auburn, AL. His teaching and research interests include
variable structure control systems and signal processing with applications in
motor control and power electronics.

Rated power W
Rated voltage V
Rated current A Chiu-Keng Lai received the B.S. degree in electronic engineering from Na-
tional Taiwan Institute of Technology, Taipei, Taiwan, R.O.C., in 1989; the M.S.
Direct inductance mH degree in information and electronic engineering in 1991, and the Ph.D. de-
Quadrature inductance mH gree in electrical engineering in 2001, all from National Central University,
Stator resistance Chung-Li, Taiwan.
He is currently an Associate Professor in the Department of Electrical En-
Inertia N.m/s gineering, National Chin-Yi Institute of Technology, Taichung, Taiwan. His in-
Viscous Coefficient N.m/s terests include motor control, PC-based control systems, and digital signal pro-
Rated speed r/min cessing.

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