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IFAC PapersOnLine 53-2 (2020) 13359–13364

Direct Sliding Mode Control of a Three-Phase AC/DC

Direct
Power Sliding Mode
Converter Control
Velocityof
for theControl a Three-Phase of a AC/DC
Direct Sliding Mode ofRegulation
a Three-Phase DC Motor
AC/DC
Power Converter
Direct Sliding for theControl
Mode VelocityofRegulation
a Three-Phase of a AC/DC
DC Motor
Power Converter for the +
Velocity Regulation of a DC Motor
Power Converter for the, Isaac
Yazan Alsmadi* Velocity Regulation
Chairez**, and Vadim of a DC Motor
Utkin***
Yazan Alsmadi*+, Isaac Chairez**, and Vadim Utkin***
Yazan Alsmadi*+, Isaac Chairez**, and Vadim Utkin***
Yazan Alsmadi* , Isaac Chairez**, and Vadim Utkin***
* Department of Electrical Engineering,
Yazan Alsmadi* Jordan
+
, Isaac University
Chairez**, of Science
and Vadim and Technology,
Utkin*** Irbid 22110, Jordan (e-
* Department of Electrical Engineering, mail:ymalsmadi@just.edu.jo).
Jordan University of Science and Technology, Irbid 22110, Jordan (e-
* Department of Electrical Engineering, mail:ymalsmadi@just.edu.jo).
Jordan University of Science and Technology, Irbid 22110, Jordan (e-
* Department of Electrical ** Bioprocesses Department
Engineering, Jordanat the UPIBI,
University
mail:ymalsmadi@just.edu.jo).of Instituto
Science and Politecnico
Technology, Nacional,
Irbid 22110, Jordan (e-
** Bioprocesses
Mexico City, 07340 Department
Mexico at the UPIBI, Instituto Politecnico
(e-mail:jchairezo@ipn.mx, Nacional,
chairezoria.1@osu.edu).
** Bioprocesses Departmentmail:ymalsmadi@just.edu.jo).
at the UPIBI, Instituto Politecnico Nacional,
*** Electrical Engineering Mexico City, 07340 Mexico
Department, The Ohio (e-mail:jchairezo@ipn.mx,
State University, Columbus, chairezoria.1@osu.edu).
OH 43210 USA. (e-mail: utkin.2@osu.edu).
** Bioprocesses
Mexico City, 07340 Department
Mexico at the UPIBI, Instituto
(e-mail:jchairezo@ipn.mx, Politecnico Nacional,
chairezoria.1@osu.edu).
*** Electrical Engineering Department, The Ohio State University, Columbus, OH 43210 USA. (e-mail: utkin.2@osu.edu).
+ Corresponding
*** Electrical Engineering Mexico City,
Author 07340 Mexico
Department, The Ohio (e-mail:jchairezo@ipn.mx,
State University, Columbus, chairezoria.1@osu.edu).
OH 43210 USA. (e-mail: utkin.2@osu.edu).
+ Corresponding
*** Electrical Engineering Author Department, The Ohio State University, Columbus, OH 43210 USA. (e-mail: utkin.2@osu.edu).
+ Corresponding
Abstract: A Author DC voltage source and a DC/DC power converter can be used to control the position, speed,
+ Corresponding
Abstract: A Author
or torque of aDCDCvoltage
motor.source
In suchand a DC/DCconditions,
operational power converter can isbeneeded
a rectifier used totocontrol
use a DC thevoltage
position, speed,
source if
Abstract:
or torque A aDC
of DC voltage
motor. source
In such and a DC/DCconditions,
operational power convertera can isbeneeded
rectifier used totocontrol
use a DCthevoltage
position, speed,
source if
only a three-phase
Abstract: A DC voltage
voltage source
source and isa DC/DC
available. The converter
power objective can of this be studytoiscontrol
used to replace the a rectifier
position, and
speed,
or torque
only of a DC motor.
a three-phase voltage In such
source operational
is available. conditions, a rectifier
The objective of thisis needed tois use
study would a DC voltage
to replace source
atorectifier and if
DC/DC
or torque power
of a DC converter
motor. by
In one
such AC/DC
operational power converter,
conditions, asuch that
rectifier itsneeded
is output tois use abeDC equal
voltage thesource
voltage if
only
DC/DC a three-phase
power voltage
converter source
by one ItAC/DC is available.
powerthat The objective
converter, of
suchalgorithm this
that its outputstudy to replace a rectifier and
needed
only
DC/DC to control
a three-phase
power a voltage
DC motor.
converter by source
one isisassumed
AC/DC available.
power the objective
The
converter,control
such of this
that its of a would
study
output DCis tomotor
would
be equal
replace
be equal
to the voltage
is selected,
atorectifier
the which
and
voltage
needed
means that to control a DCoutput
the converter
desired motor.voltage
It is assumed
ofpower that theconverter
the AC/DC control algorithm
as a its time of a DC motor
function orbe is selected,
function which
DC/DC
needed power
to control a DCoutputby one ItAC/DC
motor. is assumed converter,
that suchalgorithm
theconverter
control that output
of a would
DC motor equal toofthe
is selected,thevoltage
motor
means
state is that
known. the desired
First, a sliding voltage
mode of the AC/DC
methodology is applied toascontrol
a time the function or function
converter’s three of the which
shoulders motor to
neededthat
means to control
the desireda DCoutput
motor.voltage
It is assumed
of the AC/DCthat theconverter
control algorithm of a DC motor is selected,the which
state
make istheknown. First, input
three-phase a sliding mode
current trackmethodology
the source is
voltages toascontrol
appliedmultiplied a time the
by
function
a
or function
converter’s
time-varying three
gain.
of
shoulders
The
motor
gain to
is
meansis that
state known. the desired a output
First, inputsliding voltage
mode of the AC/DCisconverter
methodology toascontrol
appliedmultiplied a time the function or function
converter’s three of the motor
shoulders to
make
then the
selected
state isthe three-phase
known. such that
First, input the
a slidingcurrent
converter
mode track the
output
methodologysource
voltage voltages
is is equal to
appliedmultiplied the
to controlby by
desireda time-varying
input
thea time-varying of
converter’s three the gain.
DC The
motor.
shouldersgainIt is
to
make
then selected three-phase current track the source voltages of the gain. The gain is
shown
make that
the thissuch
three-phase that
condition theholds
input converter
if the
current track output
time-varyingvoltage
the source is equal
gain
voltages to the
satisfies desired
a first-order
multiplied input
differential
by a time-varying DC motor.
equation,
gain. The gain It is
which is
then
shown selected such
that thissuch that
condition the converter
holds if the output
time-varyingvoltage is
gain equal to
satisfies the desired
a first-order input of
differential the DC motor.
equation, It is
can be
then implemented
selected as part
that the of the
convertercontroller.
output The application
voltage is equal of
to Lyapunov
the desired theory
input confirms
of the DCthat the which
motor. speed
It is
shown
can that this condition
be implemented asapart holds if the
of the time-varying
controller. gain satisfies
Theatapplication of a first-order differential equation, which
regulation
shown thatprocess has
this condition stable
holds equilibrium
if the point
time-varying the origin
gain andLyapunov
satisfies athat theory
the time
first-order confirms
gain variation
differential thatis the
equation, speed
bounded.
which
can be
regulation implemented
process hasas apart of
stable the controller.
equilibrium The
point application
at the origin of
and Lyapunov
that the theory
time confirms
gain variation thatis the speed
bounded.
The
can power
be implemented
regulation efficiency
process has is
asapart equal
of the
stable to one
controller.
equilibrium if the
point gain is
Theatapplication
the positive.
origin of
and A
Lyapunov
that numerical
the theory
time simulation
confirms
gain variation demonstrates
thatis the speed
bounded.
The power of
application efficiency
the has is equalcontrol
developed to onemethodology
if the gain for is positive.
both and A numerical
constant simulation angular demonstrates
regulation
The power process
efficiency aisstable
equal equilibrium
to one if point
the at theisorigin
gain positive. that
A theandtime
numerical time-varying
gain variationdemonstrates
simulation speed
is bounded.
applicationinputs.
reference of the developed control methodology for both constant and time-varying angular speed
The power of
application efficiency is equal to one if the gain is positive. A numerical simulation angular demonstrates
reference inputs.the developed control methodology for both constant the CC
and time-varying
BY-NC-ND license angular speed
speed
Copyrightinputs.
application
Keywords:
reference ©DC
of2020
the The
motor, Authors.mode
developed
Sliding This is
control an
methodology
control, access article
openAC/DC for both
power under constant
converter, and
Equivalent time-varying
control.
Keywords:
reference DC motor, Slidinglicenses/by-nc-nd/4.0)
(http://creativecommons.org/
inputs. mode control, AC/DC power converter, Equivalent control.
Keywords: DC motor, Sliding mode control, AC/DC power converter, Equivalent control.
Keywords: DC motor, Sliding mode control, AC/DC power converter,
electronic switches Equivalent
justifiescontrol.
the possible technical solution to
1. INTRODUCTION electronic switches justifies the possible technical solution to
1. INTRODUCTION this problem.
electronic Replacing
switches justifiesa rectifier and DC/DC
the possible technicalconverter
solution withto
DC motors are commonly 1. INTRODUCTIONused actuators for speed and this one problem.
AC/DC
electronic
this problem.
Replacing
converter
switches
Replacing
to
justifies
asolve
a
rectifierthe and DC/DC
regulation
the possible
rectifier and
of
technical
DC/DC
converter
the DC
solution
converter
with
motor
withto
DC motors
position are in
control 1.
commonly INTRODUCTION
diverse used actuators for
electromechanical speed(Kuo
devices and one AC/DC
velocity
this AC/DC
problem.is seenconverter
as a to
Replacing
solve the regulation
challenging
asolve
rectifier problem
and DC/DC
of the DC
(Figure
converter 1).motor
It is
with
DC motors are commonly used actuators for speed and one
(Kuo velocity isthat converter
seen to the regulation of the DC motor
position
and control 1995).
DC Golnaraghi,
in diverse electromechanical
Robotics,usedrolling mills,for devices tools,
machine and assumed
one AC/DC theasdesired
converter
a challenging
voltage problem
to the input (Figure
of DC a 1). It is
DC/DC
and
motors
position are in
control
Golnaraghi,
commonly
1995). diverse
Robotics,
actuators
electromechanical
rolling mills,
speed(Kuo
devices
machine tools, velocity
assumed isthatseenthe a to
asdesired solve
challenging
voltage
the regulation
problem
to the
of the
(Figure
input of a 1).motor
It is
DC/DC
printing
position processes, in excavators,
control 1995). diverse and cranes aredevices
electromechanical examples (Kuoof motorvelocity is is
selected
seen as aa time
as functionproblem
challenging or function of the
(Figure 1).motor
It is
𝑣𝑣the
and Golnaraghi, Robotics, rolling mills, machine tools,
of motorassumed is that the
selected as desired voltage
a time function to the input of a DC/DC
printing
control processes,
systems with excavators,
DCRobotics, and cranes (Witt
motor applications are examples
et al, 1993). state.
assumed Switching
that the as elements
desired in thetoor
voltage
function
three
the shoulders
input
of theof
of
motor
atheDC/DC the
𝑑𝑑𝑑𝑑
and Golnaraghi, 1995). rolling mills, machine tools,
of 𝑣𝑣the
printing processes, excavators, and cranes are
(Witt examples
et al, 1993). of motor
state. is selected
Switching a
elementstime function
insuch or
the that function
three shouldersof motor
of
𝑣𝑣for
control
DC motorssystems withexcavators,
are governed DC by motorlinearapplications
differential equations of the converter should be controlled its output voltage
𝑑𝑑𝑑𝑑
printing processes, and cranes are examples of motor
state. is selected
Switching as a time function or function of the motor
control systems with DC by motor applications (Witt et al, 1993). beelements insuchthe that
three shoulders

𝑣𝑣for
𝑑𝑑𝑑𝑑
DC motors
second (witharerespect
governed to angle linear
speed)differential
or third(Wittequations
(withet respect of the
to is converter
equal
state. toshould
Switching controlled
the preselected
elements motor
in the voltage.
threeits output
The key
shoulders voltageidea
of for
the
control systems with DC motor applications al, 1993). converter
DC motors arerespect
governed by linear differential equations of the toshould be controlled suchvoltage.
that its output voltage
𝑑𝑑𝑑𝑑
second
position) (with
order, so to
the angle speed)
well-known or third
methods (with respect
developed to
in is equalthe
solving the preselected
problem is motor
selection of the phase The key
current idea
profiles
DC motors
second (witharerespect
governed to by linear
angle speed)differential
or third equations
(with respectof the
to converter
is equal toshould
the be controlled
preselected motor suchvoltage.
that its output
The voltage
key idea
position) order, so the well-known developed in to solving the desired
problemconverter
is selection of the phase current profiles
linear
second
position)control
(with theory
respect
order, so can be
to angle
the applied
well-known ormethods
speed)(Hemati thirdand
methods (with Leu, 1992).to
respect
developed in is have
equalthe
solving to problem
the the preselected
is selection output.
motor of They
voltage.
the phasecan
The thenkeybeidea
current trackedfor
profiles
linear control theory can be applied (Hemati and Leu, 1992). to have the desired converter output. They can then be tracked
position) order, so the well-known methods anddeveloped in by solving
to
realthecurrents
have
using
problemconverter
is selection sliding of the mode
phase control
current (SMC)
then be profiles
linear control
The implementation theory can be applied
of suitable (Hemati
feedback controllersLeu, 1992).
implies by realthecurrents
methodology,
desired
which using
has been
output.
sliding
widely
They
modefor
used
cancontrol
power
tracked
(SMC)
converter
linearaimplementation
The
that control
DC voltage theory can beis applied
of suitable
source (Hemati
feedback
available and the and
controllersLeu, 1992).
desired implies by
voltage to haverealthecurrents
desired converter
using output. They
sliding modefor cancontrol
then be tracked(SMC)
The implies control methodology,
by real(Utkin, which has
2013;using been
Sira-Ramirez widely used
et mode power
al, 2013;control converter
Hu et al,(SMC) 2011;
that
for aimplementation
the DC voltage
input to a DC
of suitable
source motor is
feedback
is available and the
obtained
controllers
using desired
pulse voltage
width methodology, currents
which has been sliding
widely used for power converter
The
that aimplementation
DC voltage of suitable
source is feedback
available and controllers
the desired implies control
voltage Shtessel (Utkin,
et al, 2013; Sira-Ramirez et al, 2013; Hu et al, 2011;
2008).
for the input (PWM)
modulation to a DCinmotor is obtained using pulse width controlmethodology,
(Utkin, which has been widely used for
2013; Sira-Ramirez et al, 2013; Hu et al, 2011; power converter
that
for a DC
the voltage
input to a sourceDC motor isanavailable
additional
is obtained DC/DC
and theusing desired converter
pulse width Shtessel
voltage et al, 2008).
modulation
(Dewangan (PWM)
et al, 2012; in an additional
Guerrero et al, DC/DC
2011; Bai et converter
al, 2008). control
Shtessel
Authors (Utkin,
et al,
propose 2013;
2008). Sira-Ramirez
selecting phase currentset al, 2013; Hu et al, to
proportional 2011;
the
for the input (PWM)
modulation to a DCinmotor is obtained DC/DC
an additional using pulse width
converter
(Dewangan
If a et
three-phase al, 2012;
source Guerrero
with et
balanced al, 2011;
voltagesBai et
is al, 2008).
available, Shtessel
Authors
phase et
voltagesal,
propose 2008).
of selecting
the phase
three-phase currents
source proportional
with time-varyingto the
modulation et(PWM)
(Dewangan 2012;inGuerrero
al, source an additional
et al, 2011; DC/DCBai is converter
2008). Authors
et available,
al, proposeofselecting phase currents proportional to the
If a three-phase with balanced voltages this gain phase voltagesThe problem the three-phase
is then source with time-varying
then an AC/DC
(Dewangan et al,rectifier
2012; Guerrerois needed in 2011;
et al, the framework
Bai is al, of
et available,
2008). Authors K(t).propose ofselecting phasereduced sourceto
currents finding
proportional the to
scalar
the
If a three-phase
then an AC/DC rectifier
approach.
source with
is balanced
needed voltages
in the framework of this phase gain
time
voltages
K(t).
function TheK(t). the three-phase
problemFor is then
the proposed reducedchoiceto with
finding
of
time-varying
phase thecurrent,
scalar
If a three-phase
then an AC/DC source with
rectifier is balanced
needed in voltages
the framework is available,
of this phase
gain voltages
K(t). The of the
problem three-phase
is then source
reduced to with
finding time-varying
the scalar
approach. time
the function K(t). For the systems
proposedwith choice of phase current,
then
The an
approach. AC/DC
design of rectifier
feedbackis needed controllers in theforframework
AC/DC of this time
power gainsystem
K(t). The
function behavior
problem
K(t). is like
For is then
the proposed reducedchoice
the power
to finding
of phase
gain equal
thecurrent,
scalar
the
to
time system
one function behavior
(Alsmadi K(t).et is
al,
For like systems
2018).
the proposed The with
problem
choicethe power
ofwith
phase gain
a equal
constant
current,
approach.
The design of feedback controllers
converters has been mainly investigated under the assumption thefor AC/DC power system behavior is like systems with the power gain equal
The design of feedback controllers for AC/DC power to
the one
valuesystem(Alsmadi
for the output
behavior et al,
is 2018).
converter
like systems The
voltage problem
with was with
solved
the power ina
gainconstant
Alsmadi
equal
converters
that the DC has been must
voltage mainly be investigated
constant. under the
However, assumption
direct AC/DC to one (Alsmadi et al, 2018). The problem with a constant
The designhasofbeen
converters feedback
mainly controllers under
investigated for AC/DC the power et
assumption value
al for
(2018) the following
output converter
the above voltage was solved
approach. In thisina case,
Alsmadithe
that the
control DC voltage
of has
a DC must
motor be constant.
requires However,
the development direct AC/DC to one
value (Alsmadi
for the outputet al, 2018).
converter
of a new et al (2018) following the above approach. In this case, the The
voltage problem
was with
solved in constant
Alsmadi
converters
that the DC been
voltage mainly
must be investigated
constant. under the
However, assumption
direct AC/DC AC/DC converter can be called a controllable rectifier with the
control of a DC motor therequires the development ofAC/DC
a new
The et value for the following
al (2018) output converter voltage was solved in case,
Alsmadi
methodology
that the DC
control of a
to have
voltage
DC must
motor bedesired
constant.
requires
output
the
time direct
However,
development
function.
of a new AC/DC
desired converter
output DC can bethe
voltage.
above
called approach.
a controllable In this
rectifier with the
the
methodology
accessibility to
of have therequires
faster, desired
reliable,the output
and time function.
affordable The AC/DC
power et al (2018)converter following
can bethe above
called approach. In
a controllable this case,
rectifier with the
the
control
methodology of a DC motor development of a new desired output DC voltage.
accessibility to of have the desired
faster, reliable, output
and time function.
affordable The AC/DC converter can be called a controllable rectifier with the
power desired output DC voltage.
methodology
accessibility to of have the desired
faster, reliable,output and time function.
affordable The
power desired output DC voltage.
accessibility of faster, reliable, and affordable power
2405-8963 Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license.
Peer review under responsibility of International Federation of Automatic Control.
10.1016/j.ifacol.2020.12.171
13360 Yazan Alsmadi et al. / IFAC PapersOnLine 53-2 (2020) 13359–13364

Fig. 1. Electromechanical circuit of the DC motor controlled by a three-phase converter.

This manuscript is organized as follows: Section 2 presents the 2.2 Power converter
mathematical models of both a DC motor and an AC/DC
The dynamics of the AC side of the power converter satisfies
power converter. Section 3 presents the problem statement and
the design of the feedback controller for an AC/DC converter.
Section 4 details all the aspects of the numerical simulations d
Lg ia = ea − Rg ia − van
for the velocity regulation problem of a DC motor. Section 5 dt
concludes the study with some final remarks. d (2)
Lg ib = eb − Rg ib − vbn
2. MATHEMATICAL MODELS dt
d
The system will be designed following the cascade principle. Lg ic = ec − Rg ic − vcn
dt
First, the desired input voltage of the DC motor is found such
that it tracks the speed reference input. The switching logic Here, ia , ib , and ic represent the three-phase AC input
for the converter is then selected such that its output is equal currents and Rg and Lg correspond to the grid-side
to this voltage.
2.1 DC motor resistance and inductance, respectively. The terms ea , eb ,
The model for a DC motor can be found in any textbook on and ec are the balanced three-phase AC voltages representing

AC side corresponding to the neutral power point 𝑛𝑛. The

electric machines: the infinite bus, and van , vbn , and vcn are the voltages on the
d
La iar = −iar Ra − K m + vdc
dt balanced three-phase AC voltages satisfy

𝑒𝑒𝑎𝑎 = 𝐸𝐸0 𝑠𝑠𝑠𝑠𝑠𝑠( 𝜔𝜔𝑠𝑠 𝑡𝑡)

(1)
d
2
J  = K i K f i f iar − TL

𝑒𝑒𝑏𝑏 = 𝐸𝐸0 𝑠𝑠𝑠𝑠𝑠𝑠( 𝜔𝜔𝑠𝑠 𝑡𝑡 − 𝜋𝜋)

dt
3
(3)
2
where iar is the armature current,  is the angular velocity
𝑒𝑒𝑐𝑐 = 𝐸𝐸0 𝑠𝑠𝑠𝑠𝑠𝑠( 𝜔𝜔𝑠𝑠 𝑡𝑡 + 𝜋𝜋)
3
of the motor shaft, La is the inductance of the armature
circuit, Ra is the armature resistance, J is the motor inertia, where E0 is the amplitude of the phase voltage and ωs is the
K m defines the relationship between the angular velocity and
AC power source frequency. If vectors E = ea ec  ,
T
eb
the variation of iar , K i and K f are constants, i f is the field
En = van vcn  , and I = ia ic  are defined, then
T T
current, and TL is the load torque. The input, vdc , is the vbn ib
external voltage applied to motor, which in this case the set of ordinary differential equations (2) can be
corresponds to the capacitor voltage in the AC/DC power represented as
converter. d (4)
Lg I = E − Rg I − En
dt
 Yazan Alsmadi et al. / IFAC PapersOnLine 53-2 (2020) 13359–13364 13361

Switching elements in the electrical power bridge are I should track reference input I*, which is selected such that
assumed to be ideal, with the switching logic *
the output voltage is equal to the desired function vdc .

 1 if SW j is not activated 3.1 Tracking system

(5)
SW j = 
−1 if SW j is activated Since the sum of the phase currents is equal to zero, only two
of the three components of vector I can be made equal to the
where j  a, b, c. Based on the switching description, desired values. Equations with respect to phase currents ia and
the voltage En can be described as ib can be derived from (4):

d
 2 −1 −1 Lg I a , b = Ea , b − Rg I a , b − vdc  a , b S
dt
 =  −1 2 −1
1 (6)
En = vc S , d
3 C vdc = −iL + I T S
 −1 −1 2  dt (12)
I a, b = Ca , b I , Ea , b = Ca , b E  a , b = Ca , b 
with S =  Sa Sc  . Then, (4) can be represented as
T
Sb 1 0 0  −1  2 −1 −1
Ca , b =   , a, b = 
0 1 0 3  −1 2 −1
d (7)
Lg I = E − Rg I − vc S
dt The objective of the tracking system is to reduce the two-
dimensional vector  to zero:
On the DC side of the converter, the output voltage is
 = Lg ( I a,b − I a,b, ref ) (13)
governed by
where I a ,b, ref is the reference input to be selected. As follows
d (8)
C vdc = −iar + I T S from (13), the dynamics of  satisfy
dt
d d
 = Ea , b − Rg I a , b − vdc a , b S − Lg I a ,b, ref (14)
where vector S functions as the control. dt dt
3. DESIGN OF DC MOTOR INPUT VOLTAGE A Lyapunov candidate function is selected as
2
The input voltage vdc of the DC motor should be selected such V = 0.5  . (15)
that the angle speed tracks the time-varying smooth-enough
The discontinuous control S should then enforce the sliding
reference input  * (t ) . From the DC motor equations,
𝑑𝑑
mode in the manifold  = 0 . This means that

𝑉𝑉 = 0.5𝜎𝜎 𝑇𝑇 (𝐹𝐹 − 𝑣𝑣𝑑𝑑𝑑𝑑 𝛺𝛺𝑎𝑎,𝑏𝑏 𝑆𝑆)

 = * (t ) is the solution if vdc = u* , which can be found from
𝑑𝑑𝑑𝑑
(16)

should be negative, with 𝐹𝐹 = 𝐸𝐸𝑎𝑎,𝑏𝑏 − 𝑅𝑅𝑔𝑔 𝐼𝐼𝑎𝑎,𝑏𝑏 − 𝐿𝐿𝑔𝑔 𝐼𝐼

𝑑𝑑
d *
𝑑𝑑𝑑𝑑 𝑎𝑎,𝑏𝑏,𝑟𝑟𝑟𝑟𝑟𝑟
La iar + iar* Ra + K m * = u * (t ) .
dt (9)
T
1  d *  * Taking  * = a , b , and  * = 1*  2*  3*  , the time
 J  + TL  = iar
K i K f i f  dt  derivative of the Lyapunov candidate function satisfies
If vdc = u* + u ,  = * +  , and iar = iar* + iar , then
V = ( * ) Ta , b a , b Ta , b  F − vdc ( * ) S
d T −1 T (17)
dt
d
La iar = −iar Ra − K m  + u The time derivative of the Lyapunov function is negative for
dt (10)
1 d the switching logic
J  = iar  1 if  *j >0
K i K f i f dt 
SW j =  , j = a, b, c (18)

 −1 if  *
j <0
Let u = −   (where  is constant) to improve the
transient process.  , iar , and u then tend to zero and  for high enough positive values of vdc . This means that a
tends to  . The control problem is solved if the output
* sliding mode occurs on the manifold  = 0 and
voltage of the power converter vdc is equal to I a ,b = I a ,b, ref (19)

(11)
*
vdc = u* −   

It is assumed that the range of reference inputs  * is such that

*
vdc is positive. According to the proposed plan, phase current
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3.2 Control of output voltage The result of the substitution of (30) into (26) has the following
form:
To derive the sliding mode equation, the equivalent control
(a , b S
eq
)
should be found from the equation
d
dt
 = 0 and
C
d
vdc = −iL +
dt (31
substituted into the equation for vdc in (6) (Utkin, 1992): )
1  3 d  2 3 3 2
− K (t )  K (t ) E
 0 gL + K (t ) E 2
− R K 2
(t ) E
vdc  2
0 g 0 
1    dt 
( a, b S) =
eq
d
 Ea , b − Rg I a , b − Lg I a , b ,ref 
vdc  dt 
(20) 2 2 

or, for vdc  0, iL  0, and y = vdc

2
,
The last term in the equation for vdc satisfies
d 1 d  2 d  (32
C vdc = −iL + I T S (21)  C y + iL y  2
= − Lg  K (t )  + 1 − Rg K (t))
dt  2 dt  3K (t ) E0  dt 
which can be written in the form Equation (12) can then be implemented in the controller with
I T S = ( ia , ib , −ia − ib ) S = (ia − ic , ib − ic ) a,b S y* = ( vdc
(22)
),
* 2

Consequently, the sliding mode motion (9) becomes

1 d * * 
d
C vdc = −iL +
1
( ia,ref − ic,ref , ib,ref − ic,ref )   C y + iL y 
2
2
=
dt vdc
(23)  2 dt  3K (t ) E0 (33)
 d  d 
 Ea , b − Rg I a , b − Lg I a , b , ref  − Lg  K (t )  + 1 − Rg K (t )
 dt   dt 
Phase current reference inputs are then selected to be The solution to the equation with respect to a mismatch
proportional to the source voltages, with a time-varying satisfies
coefficient:
I a, b,ref = K (t ) Ea , b , (24) 1 d y 
 C y + iL =0 (34)
 2 dt y* + y 
(i a , ref − ic, ref , ib, ref − ic, ref ) = K (t ) ( Ea − Ec , Eb − Ec ) , (25) 

and with y = y* − y . The solution to equation (34) is

d d  d  asymptotically stable, meaning that the output voltage vdc
I a , b, ref =  K (t )  Ea , b + K (t )  Ea , b  , (26)
dt  dt   dt  *
tends to the desired value vdc (5). Note that
d *
y depends on
dt
The terms on the right-hand side are then preliminarily

𝑑𝑑
d

𝐸𝐸𝑎𝑎,
calculated after substitution for the balanced source voltages:  , which can be found from the DC motor equation. Let

𝐾𝐾(𝑡𝑡)(𝐸𝐸𝑎𝑎 − 𝐸𝐸𝑐𝑐 , 𝐸𝐸𝑏𝑏 − 𝐸𝐸𝑐𝑐 )𝐾𝐾(𝑡𝑡) (𝑑𝑑𝑑𝑑 ) =

dt

𝑑𝑑
M be the upper bound

𝐸𝐸
𝑑𝑑𝑑𝑑 𝑏𝑏
(27)

𝑑𝑑 𝑑𝑑 𝑑𝑑
1 d * (35)
C y + iL y*  M
𝐾𝐾 2 (𝑡𝑡) (𝐸𝐸𝑎𝑎 𝐸𝐸𝑎𝑎, , 𝐸𝐸𝑏𝑏 𝐸𝐸𝑏𝑏 , 𝐸𝐸𝑐𝑐 𝐸𝐸𝑐𝑐 ) = 0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
2 dt

There then exists K0  0 such that, for values of K (t )  K0

Considering the second term in (26), one then has d
d E  such that K and K (t ) have opposite signs, gain K is
K (t ) ( Ea − Ec , Eb − Ec ) K (t )  a ,  = dt
dt  Eb  (28) bounded. On the other hand, if Rg K (t )  1 and Eo  Eo, m ,
K (t ) K (t ) ( Ea2 + Eb2 + Ec2 ) = K (t ) K (t ) E02
d 3 d d
dt 2 dt there exists Eo, m  0 such that K (t )  0 . This means that
dt
Here, the following identity was used: K is a positive bounded function for initial condition
  Rg K (0)  K0 and corresponds to a power factor equal to
E  3 (29) one, with ia,b,c = K (t ) Ea,b,c for a high enough amplitude of the
K (t ) ( Ea − Ec , Eb − Ec )  a ,  = K (t ) E02
 Eb  2 voltage source.
E  3 (30)
K (t ) ( Ea − Ec , Eb − Ec ) K (t )  a ,  = K 2 (t ) E02
 Eb  2
 Yazan Alsmadi et al. / IFAC PapersOnLine 53-2 (2020) 13359–13364 13363
4. SIMULATIONS
This section illustrates the application of the controllers
proposed in this study. For this numerical example, the
components of the power converter and the DC motor circuits
are La = 0.012 Henry , Ra = 3.9 Ohm , J = 0.9 kg  m2 ,
Km = 0.05volts  s / rad , Ki = 5.0 , K f = 3.0 , i f = 2.0
Amperes, TL = 5 N  m] , Rg = 15 10−3 Ohm ,
−3
Lg = 2 10 Henry (Yao et al, 2013). The simulated DC rate
reference 𝜔𝜔∗ = 10 by the actual angular velocity 𝜔𝜔. Notice
was selected as 0.5 hp. Figure (2) shows the tracking of the
that the tracking error reduces asymptotically to zero due to the
application of the controller proposed for this part of the DC
motor circuit.
Fig. 2. Comparison of the reference angular velocity   and
the controlled DC motor  .

The reference voltage vdc is calculated according to equation
(11). The AC/DC power converter can then be controlled
based on the first-order SMC, which forces tracking of the
reference voltage within the first 0.2 s (Figure 3), which in turn
ensures the tracking of the reference angular velocity   . The
SMC introduces a transient period (0.1 s) of adjustment of the
input currents followed by the regular sinusoidal tracked forms
(Figure 4). Here, it is noticeable that the input currents have a
transient evolution with an exponential decay to the steady
sinusoidal regime, which corresponds to the expected
restricted relationship between the input currents.
Fig. 3. Comparison of the reference 𝑣𝑣𝑑𝑑𝑑𝑑
∗
and the controlled DC
motor vdc .
and
Fig. 4. Time variation of the input currents for the three-phase
AC/DC power converter.
In this case, the dynamics of the gain keep their form in
correspondence with ordinary differential equation (33). The
gain as a time function appears in Figure 5. During the process,
the gain K (t ) remains positive.
The proposed controller is simulated by considering a time-
dependent angular velocity * (t ) = 5sin(0.5t ) + 8 . The gain
remains positive, justifying the claim regarding the high-
power efficiency (Figure 6).
5. CONCLUSION
A design method is developed to control a DC motor without
a DC voltage source. A three-phase power converter is directly
connected to a DC motor. The proposed sliding mode control
approach is intended to solve the problem of tracking the angle
speed reference input. Formally, control is three-dimensional
(three shoulders of the converter), but we deal with a singular
case, and only two state variables can be controlled. Two
converter input currents are selected to be controlled in the
sliding mode such that they are proportional to the source
voltage with time-varying positive gain. The operation mode
is similar to that of systems with sinusoidal signals and power
factors equal to one. The next step is selecting the gain such
that the output voltage is precisely equal to the desired input
of the DC motor. The gain should satisfy a first-order
differential equation. The positiveness of the gain seems to be
an innovative option for solving the velocity regulation of a
DC motor based on the application of the sliding mode control
and a reduced version of a three-phase AC/DC power
converter. This result appears to be an alternative that may
reduce the complexity of controller design. The dynamic
system governed by this equation is implemented in the
controller. Theoretical results are confirmed by simulations
with both constant and time-dependent angular velocity
references.
13364 Yazan Alsmadi et al. / IFAC PapersOnLine 53-2 (2020) 13359–13364

standardization. IEEE Transactions on industrial electronics,

Fig. 5. Time dependence of the gain K (t ) .
Fig. 6. Tracking of a time-dependent angular velocity
reference.
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