Sliding Mode PWM-Direct Torque Controlled Induction Motor Drive with Kalman Filtration of Estimated Load

Abstract

The paper presents an application of sliding mode controller and Kalman Filter (KFSMC) in speed control of pulse-width-modulation direct torque controlled induction motor drive. The performance of the direct torque control (DTC) is degraded by the uncertainty of stator resistance. In order to increase the robustness of the controlled system to the uncertainty, a sliding mode controller (SMC) is utilized to replace the proportional-integral (PI) speed controller in the conventional DTC drive structure. Computation of SMC requires estimation of load, and Kalman Filter is integrated to reduce noise in load estimation and chattering phenomenon in speed response. Simulations are carried out at different reference speeds in a wide range of noises of stator resistance. Indices including ITAE, settling time, overshoot, and undershoot are employed to compare the performance of drive structures. Results confirmed the desired characteristics of the proposed drive structure.

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