alternativeАльтернативная энергетика и экология (ISJAEE)Alternative Energy and Ecology (ISJAEE)1608-8298Международный издательский дом научной периодики "Спейс10.15518/isjaee.2024.03.081-090alternative-2394Research ArticleВОДОРОДНАЯ ЭКОНОМИКАHYDROGEN ECONOMYОбоснование применения метода скользящих режимов для управления скоростью синхронного двигателя с постоянными магнитамиJustification of the application of the sliding mode method for controlling the speed of the PMSMhttps://orcid.org/0000-0003-0245-2652МосинМ. Е.MosinM. E.

Мосин Михаил Евгеньевич -  аспирант кафедры Электропривода и автоматизации промышленных установок 

проспект Карла Маркса, 20, Новосибирск, Россия, 630073 

Mosin Mikhail Evgenievich -  PhD student at the Department of Electric Drive and Automation of Industrial Units 

K. Marx ave., 20, Novosibirsk, Russia, 630073 

https://orcid.org/0000-0001-8282-6145ПоповН. С.PopovN. S.

Попов Никита Сергеевич -  к.т.н., доцент кафедры Электропривода и автоматизации промышленных  установок  

Elibrary AuthorID: 1084406, Scopus Author ID: 57215016363

проспект Карла Маркса, 20, Новосибирск, Россия, 630073 

 тел: +7 (383) 346-13-87

Popov Nikita Sergeevich -  PhD, Associate Professor at the Department of Electric Drive and Automation of Industrial Units 

 Elibrary AuthorID: 1084406 Scopus Author ID: 57215016363 

 K. Marx ave., 20, Novosibirsk, Russia, 630073 

 Tel.: +7 (383) 346-13-87 

n.popov@corp.nstu.ruhttps://orcid.org/0000-0002-7741-9446ДомахинЕ. А.DomakhinE. A.

Домахин Евгений Александрович -  к.т.н., доцент кафедры Электропривода и автоматизации промышленных установок

Elibrary AuthorID: 1125405, Scopus Author ID: 57203246779

проспект Карла Маркса, 20, Новосибирск, Россия, 630073 

Domakhin Evgeniy Alexandrovich -  PhD, Associate Professor at the Department of Electric Drive and Automation of Industrial Units 

Elibrary AuthorID: 1125405 Scopus Author ID: 57203246779 

K. Marx ave., 20, Novosibirsk, Russia, 630073 

https://orcid.org/0000-0001-8762-9917ВильбергерМ. Е.VilbergerM. E.

Вильбергер Михаил Евгеньевич - к.т.н., доцент кафедры Электромеханики 

Elibrary AuthorID: 177083, Scopus Author ID: 57196261861 

 проспект Карла Маркса, 20, Новосибирск, Россия, 630073 

Vilberger Mikhail Evgenievich -  PhD, Associate Professor at the department of Electromechanics 

Elibrary AuthorID: 177083 Scopus Author ID: 57196261861 

K. Marx ave., 20, Novosibirsk, Russia, 630073 

Новосибирский Государственный Технический УниверситетРоссияNovosibirsk State Technical UniversityRussian Federation202406062024038190Copyright © Международный издательский дом научной периодики "Спейс, 20232023Международный издательский дом научной периодики "СпейсМеждународный издательский дом научной периодики "Спейсhttps://www.isjaee.com/jour/about/submissions#copyrightNoticehttps://www.isjaee.com/jour/article/view/2394

В исследовании предложен альтернативный классическому ПИД-регулятору алгоритм управления скоростью синхронного двигателя с постоянными магнитами, называемый прямым разрывным управлением в скользящих режимах, основанный на релейных регуляторах. Благодаря показанным преимуществам данный метод предполагается использовать для управления скоростью движения электромобиля на водородных топливных элементах. Представлено математическое описание метода скользящих режимов, дающее понимание о происходящих процессах в системе во время переходных режимов. С помощью математического моделирования в MATLAB/Simulink было проведено сравнение динамических характеристик переходного процесса по скорости для системы с классическими ПИД-регуляторами и системы с управлением в скользящих режимах. Система со скользящими режимами показала лучшие показатели времени регулирования и реакции на изменение нагрузки. Таким образом, делается вывод о том, что использование метода скользящих режимов предпочтительнее в задачах управления скоростью электромобиля на водородных топливных элементах.

The study proposes an alternative to the classical PID controller algorithm for controlling the speed of a permanent magnets synchronous motor, called direct discontinuous control in sliding modes, based on relay controllers. Due to the advantages shown, this method is supposed to be used to control the speed of fuel cell vehicles. A mathematical description of the sliding mode method is presented, which gives an understanding of the processes occurring in the system during transient modes. Using mathematical modeling in MATLAB/Simulink, the dynamic characteristics of the transient process in terms of speed were compared for a system with classical PID controllers and a system with control in sliding modes. The system with sliding modes showed the best indicators of regulation time and response to load changes. Thus, it is concluded that the use of the sliding mode method is preferable in the tasks of speed control of fuel sell vehicles.

релейный регуляторскользящие режимыповерхность скольжениясинхронный двигатель с постоянными магнитамиrelay controllersliding modessliding surfacepermanent magnets synchronous motorReferencesDe Wolf, D.; Smeers, Y. Comparison of Battery Electric Vehicles and Fuel Cell Vehicles. World Electr. Veh. J. 2023, 14, 262. https://doi.org/10.3390/wevj14090262De Wolf, D.; Smeers, Y. Comparison of Battery Electric Vehicles and Fuel Cell Vehicles. World Electr. Veh. J. 2023, 14, 262. https://doi.org/10.3390/wevj14090262CNRS. Hydrogen Car for All? In Proceedings of the European Fuel Cell Car Workshop, Orléans, France, 1-3 March 2017; Available online: https://news.cnrs.fr/articles/hydrogen-cars-for-all (accessed on 1 September 2023).CNRS. Hydrogen Car for All? In Proceedings of the European Fuel Cell Car Workshop, Orléans, France, 1-3 March 2017; Available online: https://news.cnrs.fr/articles/hydrogen-cars-for-all (accessed on 1 September 2023).Макарян И. А., Седов И. В. Оценка экономической эффективности масштабов получения водорода различными методами // Российский химический журнал. 2021. № 1. URL: https://cyberleninka.ru/article/n/otsenka-ekonomicheskoy-effektivnosti-masshtabov-polucheniya-vodoroda-razlichnymi-metodami (дата обращения: 29.09.2023)].Makaryan I. A., Sedov I. V. Assessing the economic efficiency of the scale of hydrogen production using various methods // Russian Chemical Journal. 2021. No. 1. URL: https://cyberleninka.ru/article/n/otsenka-ekonomicheskoy-effektivnosti-masshtabov-polucheniya-vodoroda-razlichnymi-metodami (date of access: 09.29.2023).].Рывкин Сергей Ефимович. Синтез систем управления автоматизированными синхронными электроприводами с использованием скользящих режимов: дис. ... д-ра техн. наук: 05.13.06. – Москва, 2006. – 370 с. РГБ ОД, 71:07-5/66Ryvkin Sergey Efimovich. Synthesis of control systems for automated synchronous electric drives using sliding modes: thesis. ...Dr. Tech. Sciences: 05.13.06. – Moscow, 2006. – 370 p. RSL OD, 71:07-5/66Janos Mate Kiss, Peter Tamas Szemes, Petra Aradi. Sliding mode control of a servo system in LabVIEW: Comparing different control methods // International Review of Applied Sciences and Engineering. – 2021. – P. 201-210.Janos Mate Kiss, Peter Tamas Szemes, Petra Aradi. Sliding mode control of a servo system in LabVIEW: Comparing different control methods // International Review of Applied Sciences and Engineering. – 2021. – P. 201-210.Панкратов В. В. Избранные разделы теории автоматического управления: учеб. пособие / В. В. Панкратов, О. В. Нос, Е. А. Зима. – Новосибирск: Изд-во НГТУ, 2011. – 223 с. (Серия «Учебники НГТУ»).Pankratov V. V. Selected sections of the theory of automatic control: textbook. allowance / V.V. Pankratov, O.V. Nos, E.A. Zima. – Novosibirsk: NSTU Publishing House, 2011. – 223 p. (Series «Textbooks of NSTU»).Nasri A., Gasbaoui B., Fayssal B. M. Sliding mode control for four wheels electric vehicle drive // Procedia Technology. – 2016. – Vol. 22. – P. 518-526.Nasri A., Gasbaoui B., Fayssal B. M. Sliding mode control for four wheels electric vehicle drive // Procedia Technology. – 2016. – Vol. 22. – P. 518-526.On Chattering-Free Dynamic Sliding Mode Controller Design / Jeang-Lin C. // Journal of Control Science and Engineering. – 2012. – Vol. 2012. – P. 1-7. Doi: 10.1155/2012/564906On Chattering-Free Dynamic Sliding Mode Controller Design / Jean-Lin C.// Journal of Control Science and Engineering. – 2012. – Vol. 2012. – P. 1-7. Doi: 10.1155/2012/564906.Alfian Ma’arif, Abdullah Cakan Simulation and Arduino Hardware Implementationof DC MotorControlUsing Sliding Mode Controller // Journal of Robotics and Control (JRC). – 2021. – Vol. 2. – P. 582-587.Alfian Ma’arif, Abdullah Cakan. Simulation and Arduino Hardware Implementation of DC MotorControlUsing Sliding Mode Controller // Journal of Robotics and Control (JRC). – 2021. – Vol. 2. – P. 582-587.P. Sowjanya, S. Tarakalyani PI and sliding mode control for permanent magnet brushless DC motor // International journal of innovative technology and research. – 2013. – Vol. 1. – P. 497-502.P. Sowjanya, S. Tarakalyani PI and sliding mode control for permanent magnet brushless DC motor // International journal of innovative technology and research. – 2013. – Vol. 1. – P. 497-502.Виноградов А. Б. Векторное управление электроприводами переменного тока / ГОУВПО «Ивановский государственный энергетический университет имени В. И. Ленина». – Иваново, 2008. – 321 с.[Vinogradov A. B. Vector control of AC electric drives / Ivanovo State Energy University named after V. I. Lenin. – Ivanovo, 2008. – 321 p.В. В. Панкратов, Д. А. Котин. Адаптивные алгоритмы бездатчикового векторного управления асинхронными электроприводами подъемно-транспортных механизмов: учебное пособие. – Новосибирск: Изд-во НГТУ, 2012. – 150 с.V. V. Pankratov, D. A. Kotin. Adaptive algorithms for sensorless vector control of asynchronous electric drives of hoisting and transport mechanisms: a textbook. – Novosibirsk: NSTU Publishing House, 2012. – 150 p.Shiyi Fang, Rongrong Zhang, Sergey Maltsev, Daifen Chen, Xinyu Fan, Aleksey Levtsev, «A novel adaptive fast sliding mode control method based on fuzzy algorithm for the air management system of fuel cell stack» Process Safety and Environmental Protection, Volume 187, 2024, Pages 506-517, ISSN 0957-5820, https://doi.org/10.1016/j.psep.2024.04.088Shiyi Fang, Rongrong Zhang, Sergey Maltsev, Daifen Chen, Xinyu Fan, Aleksey Levtsev. «A novel adaptive fast sliding mode control method based on fuzzy algorithm for the air management system of fuel cell stack» Process Safety and Environmental Protection, Volume 187, 2024, Pages 506-517, ISSN 0957-5820, https://doi.org/10.1016/j.psep.2024.04.088Mohamed Derbeli, Oscar Barambones, Maissa Farhat, Jose Antonio Ramos-Hernanz, Lassaad Sbita. «Robust high order sliding mode control for performance improvement of PEM fuel cell power systems», International Journal of Hydrogen Energy, Volume 45, Issue 53, 2020, Pages 29222-29234, ISSN 0360-3199, https://doi.org/10.1016/j.ijhydene.2020.07.172Mohamed Derbeli, Oscar Barambones, Maissa Farhat, Jose Antonio Ramos-Hernanz, Lassaad Sbita. «Robust high order sliding mode control for performance improvement of PEM fuel cell power systems», International Journal of Hydrogen Energy, Volume 45, Issue 53, 2020. Pages 29222-29234, ISSN 0360-3199, https://doi.org/10.1016/j.ijhydene.2020.07.172Usmanov, U.; Ruzimov, S.; Tonoli, A.; Mukhitdinov, A. Modeling, Simulation and Control Strategy Optimization of Fuel Cell Hybrid Electric Vehicle. 2023, 5, 464-481. https://doi.org/10.3390/vehicles5020026Usmanov, U.; Ruzimov, S.; Tonoli, A.; Mukhitdinov, A. Modeling. Simulation and Control Strategy Optimization of Fuel Cell Hybrid Electric Vehicle. 2023, 5, 464-481. https://doi.org/10.3390/vehicles5020026Kamal, E.; Adouane, L. Optimized EMS and a Comparative Study of Hybrid Hydrogen Fuel Cell/Battery Vehicles. Energies 2022, 15, 738Kamal, E.; Adouane, L. Optimized EMS and a Comparative Study of Hybrid Hydrogen Fuel Cell/Battery Vehicles. Energies 2022, 15, 738Ajanovic, A.; Haas, R. Economic and Environmental Prospects for Battery Electric- and Fuel Cell Vehicles: A Review. Fuel Cells 2019, 19, 515-529Ajanovic, A.; Haas, R. Economic and Environmental Prospects for Battery Electric and Fuel Cell Vehicles: A Review. Fuel Cells 2019, 19, 515-529Yun, Q.; Wang, X.; Yao, C.; Zhuang, W.; Shao, M.; Gao, H. A Second-Order Sliding Mode Voltage Controller with Fast Convergence for a Permanent Magnet Synchronous Generator System. Processes 2024, 12, 71. https://doi.org/10.3390/pr12010071Yun, Q.; Wang, X.; Yao, C.; Zhuang, W.; Shao, M.; Gao, H. A Second-Order Sliding Mode Voltage Controller with Fast Convergence for a Permanent Magnet Synchronous Generator System. Processes 2024, 12, 71. https://doi.org/10.3390/pr12010071Liu, W.; Luo, B.; Yang, Y.; Niu, H.; Zhang, X.; Zhou, Y.; Zeng, C. An Adaptive-Gain Sliding Mode Observer with Precise Compensation for Sensorless Control of PMSM. Energies 2023, 16, 7968, https://doi.org/10.3390/en16247968Liu, W.; Luo, B.; Yang, Y.; Niu, H.; Zhang, X.; Zhou, Y.; Zeng, C. An Adaptive-Gain Sliding Mode Observer with Precise Compensation for Sensorless Control of PMSM. Energies 2023, 16, 7968. https://doi.org/10.3390/en16247968Chen, H.; Zhang, R.; Zhu, S.; Gao, J.; Zhou, R. Model Reference Adaptive Observer for Permanent Magnet Synchronous Motors Based on Improved Linear Dead-Time Compensation. Electronics 2023, 12, 4907. https://doi.org/10.3390/electronics12244907Chen, H.; Zhang, R.; Zhu, S.; Gao, J.; Zhou, R. Model Reference Adaptive Observer for Permanent Magnet Synchronous Motors Based on Improved Linear Dead-Time Compensation. Electronics 2023, 12, 4907. https://doi.org/10.3390/electronics12244907Bensalem, Y.; Kouzou, A.; Abbassi, R.; Jerbi, H.; Kennel, R.; Abdelrahem, M. Sliding-Mode Based Current and Speed Sensors Fault Diagnosis for Five-Phase PMSM. Energies 2022, 15, 71. https://doi.org/10.3390/en15010071Bensalem, Y.; Kouzou, A.; Abbassi, R.; Jerbi, H.; Kennel, R.; Abdelrahem, M. Sliding-Mode-Based Current and Speed Sensors Fault Diagnosis for Five-Phase PMSM. Energies 2022, 15, 71. https://doi.org/10.3390/en15010071Soriano, L. A.; Rubio, J. d. J.; Orozco, E.; Cordova, D.A.; Ochoa, G.; Balcazar, R.; Cruz, D. R.; Meda-Campaña, J. A.; Zacarias, A.; Gutierrez, G. J. Optimization of Sliding Mode Control to Save Energy in a SCARA Robot. Mathematics 2021, 9, 3160. https://doi.org/10.3390/math9243160Soriano, L.A.; Rubio, J. d. J.; Orozco, E.; Cordova, D. A.; Ochoa, G.; Balcazar, R.; Cruz, D. R.; Meda-Campaña, J.A.; Zacarias, A.; Gutierrez, G. J. Optimization of Sliding Mode Control to Save Energy in a SCARA Robot. Mathematics 2021, 9, 3160. https://doi.org/10.3390/math9243160Wang, M.; Xu, Y.; Zou, J. Sliding-Mode-Observer-Based Open-Switch Diagnostic Method for Permanent Magnet Synchronous Motor Drive Connected with LC Filter. Energies 2019, 12, 3288. https://doi.org/10.3390/en12173288Wang, M.; Xu, Y.; Zou, J. Sliding-Mode-Observer-Based Open-Switch Diagnostic Method for Permanent Magnet Synchronous Motor Drive Connected with LC Filter. Energies 2019, 12, 3288. https://doi.org/10.3390/en12173288Deise Maria Cirolini Milbradt, Paulo Jefferson Dias de Oliveira Evald, Guilherme Vieira Hollweg, Hilton Abílio Gründling. A Hybrid Robust Adaptive Sliding Mode Controller for partially modelled systems: Discrete-time Lyapunov stability analysis and application, Nonlinear Analysis: Hybrid Systems, Volume 48, 2023, 101333, ISSN 1751-570X, https://doi.org/10.1016/j.nahs.2023.101333Deise Maria Cirolini Milbradt, Paulo Jefferson Dias de Oliveira Evald, Guilherme Vieira Hollweg, Hilton Abílio Gründling. A Hybrid Robust Adaptive Sliding Mode Controller for Partially Modeled Systems: Discrete-time Lyapunov Stability Analysis and Application, Nonlinear Analysis: Hybrid Systems, Volume 48, 2023, 101333, ISSN 1751-570X, https://doi.org/10.1016/j.nahs.2023.101333Héctor Ríos, Manuel Mera, Andrey Polyakov. A New Finite-Time Sliding-Mode Controller for a Class of Second–Order Non–Linear Systems, IFAC-Papers-OnLine, Volume 56, Issue 2, 2023. Pages 49-53, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2023.10.1394Héctor Ríos, Manuel Mera, Andrey Polyakov. A New Finite-Time Sliding-Mode Controller for a Class of Second-Order Non-Linear Systems, IFAC-Papers-OnLine, Volume 56, Issue 2, 2023, Pages 49-53, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2023.10.1394

The authors declare that there are no conflicts of interest present.