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Higher Order Sliding Mode Control Based Sr Motor Control System Design

Thesis Info

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Author

Rafiq, Muhammad

Program

PhD

Institute

Mohammad Ali Jinnah University

City

Islamabad

Province

Islamabad

Country

Pakistan

Thesis Completing Year

2012

Thesis Completion Status

Completed

Subject

Applied Sciences

Language

English

Link

http://prr.hec.gov.pk/jspui/handle/123456789/1834

Added

2021-02-17 19:49:13

Modified

2024-03-24 20:25:49

ARI ID

1676726372090

Similar


This thesis presents a novel scheme for speed regulation/tracking of Switched Reluctance (SR) motors based on Higher-Order Sliding-Mode technique. In particular, a Second-Order Sliding-Mode Controller (SOSMC) based on Super Twisting algorithm is developed. Owing to the peculiar structural properties of SRM, torque produced by each motor phase is a function of phase current as well as rotor position. More importantly, unlike many other motors the polarity of the phase torque in SR motors is solely determined by the rotor position and is independent of the polarity of the applied voltage or phase current. SR motor needs an electronic commutation scheme for its operation. So design of commutation scheme plays an important role in motor efficiency and performance. This commutation scheme is embedded in its power supply as switching timers. The existing commutation schemes cause high power loss and based on those commutation schemes, the existing controller techniques for SR motor show low robustness especially when motor’s parameters change. Therefore a new commutation scheme is developed which optimizes power consumption in motor phases. On the bases of this commutation scheme, a new controller technique is used to design controller for SR motor which is highly efficient, simple to design and easy to implement and also provides sufficient robustness against parameter variations and unknown disturbances. The proposed controllers take advantage of this property and incorporate a commutation scheme which, at any time instant, selects to energize only those motor phases for the computation of control law, which can contribute torque of the desired polarity at that instant. This feature helps in achieving the desired speed regulation/tracking objective in a power efficient manner as control efforts are applied through selective phases and phases producing the torque of opposite polarity are kept switched off. This approach also minimizes the power loss in the motor windings reducing the heat generation within the motor. The common techniques for designing the SR Motor controls are fuzzy logic control, Artificial Neural Network (ANN) and feedback linearization. Fuzzy logic control provides sufficient robustness against parameter variations but at a high computational cost. Artificial Neural Network (ANN) shows good dynamic response against unknown disturbances but problem in using this technique is requirement of a large training data set. In the feedback linearization technique, nonlinear control problem is transformed into linear control problem and then any one of the well established and mature linear controller techniques are applied on the resulting system. Feedback linearization cannot be applied to all types of nonlinear systems; and in case of parameters uncertainties, the robustness cannot be guaranteed. All the deficiencies in discussed techniques can be overcome by introducing sliding mode control which is simple, easy to implement and provides robustness. The inherent problem of chattering in classical FOSMC can further be improved by using higher order sliding mode control (HOSMC). In order to highlight the advantages of Higher-Order Sliding-Mode controller, a classical First-Order Sliding-Mode controller (FOSMC) is also developed and applied to the same system. The comparison of the two schemes shows much reduced chattering and low power consumption in case of SOSMC. This feature is especially very important for SR motor control, due to reduced chattering; wear and tear problem of actuators is reduced. The responses of synthesized controllers are also investigated against changes in moment of inertia which could be due to engagement of load; stator phase resistance which could vary due to temperature variations in winding during operation and coefficient of viscous friction as a model uncertainty. The performance of the proposed SOSMC controller for speed regulation is also compared with that of another sliding mode speed controller published in the literature and also with dynamic sliding mode controller. The same technique is also applied on position control problem and, FOSMC and SOSMC are developed for position regulation problem; making it possible candidate for servo drive application.
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آپ ؐ بحیثیت معلم

آپ ؐ بحیثیت مُعلّم
نحمدہ ونصلی علی رسولہ الکریم امّا بعد فاعوذ بااللہ من الشیطن الرجیم
بسم اللہ الرحمن الرحیم
لقد کان لکم فی رسول اللہ اسوۃ حسنہ
صدر ِذی وقار اور میرے ہم مکتب ساتھیو!
آج مجھے جس موضوع پر لب کشائی کی سعادت حاصل ہور ہی ہے وہ ہے:’’آپؐ بحیثیت معلم ‘‘
جنابِ صدر!
’’وہ ہے اسوۂ حسنہ‘‘ اس مختصر وقت میں آپ ؐ کی زندگی کے تمام گوشوں پر روشنی ڈالنانا ممکن ہے میں صرف آپؐ بحیثیت معلم پراظہار خیال کروں گا۔
صاحبِ صدر!
حضورؐ کی سیرت طیبہ پر اگر سرسری نظر ڈالی جائے تو ہمیں وہاں زندگی کی بوقلمونیوں کا ایک حسین و جمیل مرقعّ نظر آتا ہے، وہاں جنگ کی شعلہ بیانیاں بھی ہیں اورصلح کی راحت و رحمت بھی، دشمن نفرت کے انگارے بھی برساتے ہیں اور عقیدت مند اپنی محبت و مودت کے رنگین پھول بھی نچھاور کر رہے ہوتے ہیں۔ ہم نے محبوبِ خداؐ کو حلقہ یاراں میں بھی دیکھا ہے اور حملہ آوروں کے نرغہ میں بھی۔ ہم نے ان کی کاروباری مصروفیتوں کا بھی مطالعہ کیا ہے، اور غارِ حرا میں خلوتوں میں ان کے سوز و گداز کا بھی جائزہ لیا ہے ،ہم نے انہیں اپنے وطن سے بظاہر انتہائی بے بسی اور بے کسی میں ہجرت کرتے بھی دیکھا ہے اور چند سال بعد اس شہر میں فاتحانہ انداز میں داخل ہونے کا منظر بھی ملاحظہ کیا ہے۔ اپنے اہل وعیال کے ساتھ ان کے برتاؤ کا ریکارڈ بھی ہمارے سامنے ہے اور اپنے جاں نثار اور وفا شعار ساتھیوں کے ساتھ حسن سلوک کی تفصیلات بھی ہمارے پیش نظر ہیں۔
جنابِ صدر!
زندگی کے وسیع وعریض میدان کا کوئی کونہ ایسانہیں ہے جہاں حبیب کبریا ؐنے اپنے اسوۂ حسنہ کے حسین و جمیل نقوش نہ چھوڑے ہوں۔ یہ جامعیت، یہ...

تفسیر القرآن از سر سید احمد خان کا تحقیقی و تنقیدی جائزہ

Sir Syed Aḥmed Khān belonged to a famous family of the subcontinent during the late Mughal and early British colonial period. He was famous for his close relations with the colonial government. He served many years in the judiciary. In recognition of his services, he was conferred upon with various titles such as Sir, The Imperial Advisor, etc. He is the founder of the educational campaign which was later known as the Aligarh movement. He was worried about the future of Muslims in India. This worry forced him to produce various literary and Islamic books to uplift the political, cultural, educational and social status of the Indian Muslims. One of his famous contribution to Islamic literature of Quranic exegeses is his Tafsīr al-Qur’ān. His tafsīr is influenced by western thoughts. He, instead of following the traditional methodology of Quranic exegeses, tried to understand the Quranic verses rationally. This led him to deviate from many established concepts of Islamic doctrines. He went against the Muslims’ affirmed beliefs in his exegesis. He mistrusted some of the basics of Islamic thoughts and tried his best to make new parameters of writing & reading of the Quranic exegesis on human logics. In addition, some of his views show certain relevance to the Mu'tazilites school of thought. The aim of this paper is to present an analytical and a critical evaluation of the exegetical opinions of Sir Syed Aḥmed Khān, particularly on the issues where he deviated from the mainstream Islamic thoughts in his exegesis, Tafsīr al-Qur’ān.

The Concept of Moral Responsibility & its Impact on Individual & Society in the Light of Sunnah of the Prophrt S. A. W. W

Moral values could be seen as the base of Human Civilization and without which there may not be any difference between a civilized man and an animal. Removing the moral values and moral responsibility from the society, any type of evil could be justified, as it is seen gradually in the occidental societies. The moral values and its strength in a nation is a matter of proud for those people. A nation whose collective morals are high has always potential to lead other civilizations with its own, and same is true for the opposite. This is the reason behind that when we see many non-Muslim Nations lead the world, just because they steadfast with the high moral values as justice, protection of rights of the weak etc. And when a nation, Muslim or non-Muslim, leave these high moral values, no one can save her from the demise. Due to this utmost importance of the moral sense in the humans, Islam regards the moral values as one of the integral part of the Divine Revelation. It is reported that our beloved Prophet peace be upon him has said, “Indeed I am sent to complete the high morals”. Islam aims to create a sense of moral responsibility in its adherents so that they show a complete picture of an ideal society, and so that each Muslim enjoys his freedom as well as his choice to do best moral deeds. Therefore I chose to study the Hadith Literature which covers this part of human life. Significance of the Topic The most prominent reasons which lead me to select this topic for my PhD dissertation are as follow: 1. The morals sense of Responsibility is the basic force which prevents an individual to control his desires and not to harm others for his benefits. The disturbance in the equilibrium of social behavior, decline of moral values in the Muslims and weakening of Family stability in our times appealed me to look in the topic. 2. Propagation of materialistic philosophies and attitudes, and their dominance over the minds entails serious affects upon the Nation and its civilization as a whole. These attitudes split a man between the spirit and the body, between the worldly and the otherworldly, between the secular and the religious. And as a fact after this dichotomy, the majority goes for the temporal. This superficial approach forms an agony in any living heart of a Muslim. 3. Disconnection of the Individual from the Divine Message and his detachment from the Sunnah which was provided as a role model by Allah. This is also a reason for a researcher to give attention. 4. To create a sense of moral responsibility in the individual is the best way to control his harmful desires and the law could hardly do that because where the individual is beyond the sight of the law he may have no other reason to stop other than the morals or the faith 5. 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To what extent the Muslim Jurists and the modern law scholars agree or disagree in their perception of the moral responsibility. And what are the teachings in this regard in the Sunnah? And from among these, which will be better for the society as a whole and for the individual. 3. Is it possible for the law to ensure the humanity a peaceful world with all the necessary needs supplied to every member of the human community? Or the societies are always in the need of Morality to reinforce the law for its short comings and restrictedness. I tries to investigate the answers for these problems, so that I may present a complete picture of the teachings about the topic in the Sunnah. Research plan I have divided my research into three chapters. First chapter is about the meaning of the responsibility. Second Chapter is about the Prophetic method in the developing of awareness for moral responsibility in the Ummah. And I discussed in the third chapter the effects of the moral responsibility and its awareness in the society. The first chapter is further divided into a preface and two sections. The preface is about the definition and resources of the moral responsibility. The first section of the first chapter is about bases of the moral responsibility and its conditions in the individual. The second section of this chapter is about the aims and the domains of the moral responsibility. The second chapter is further divided into three sections. First section is about the Prophetic means of developing the moral responsibility awareness in the individuals. Second section is about the Prophetic methods of developing the moral responsibility awareness in the individuals. And the third section studies some of the examples from the Seerah regarding the moral responsibility and its implications. The third chapter is further divided into two sections. First section deals with the effects of the moral responsibility and its awareness upon the individual and the society. The second section is about the impacts of neglecting the moral responsibility upon the Pakistani Society. In the end I added my conclusion and provided some advices and recommendations for the fellow researchers, Muslim Da’wah workers as well as other social workers. Some of the important points in my conclusion are: 1. Every member of human race is responsible for what he says and what he does, if he meets the conditions of accountability. 2. The concept of responsibility in Islam differs from other legislations or philosophies. This is because the conventional legal conceptions of the responsibility bound it with the rule of law, and if the law doesn’t cover a certain area, the individual is not responsible in that area. 3. In the western world, values are left with no reliable frame of reference and are only temporary means for handling human affairs. The real ground for moral conduct is belief in a higher authority which has a moral order for the human kind. 4. Some of the key points in the significance of the moral responsibility in Islam and its characteristics. 5. Reasons behind the decline of moral awareness in the Muslim societies. Some of my important recommendations are: 1. Muslim families must do their best to provide their children means which develop high morals in them, and to safeguard them against the means which may destroy their morality or moral sense. 2. The Muslim families must pay heed to the upbringing of their children and must not rely upon their school teachers regarding their moral education. 3. The Educational Institutions and the Education Ministry must add the subject “The Islamic values of Morals” in each School class curricula till the high school grade. 4. The Media and its organizations must keep care not to broadcast anything which may affect the morals of their society in negative, instead they must be desirous to engage in healthy activities which create the high morals in the society. 5. It must be remembered that developing the morality and the sense of moral responsibility is not mere teaching and book reading of a subject; it is in fact, converting a theory into its practical implications.