Optimized adaptive motion control through an SoPC implementation for linear induction motor drives

This paper proposes an optimized adaptive tracking control for a linear induction motor (LIM) drive taking into account the unknown end effects, payload, and uncertainties including the friction force. The dynamic model of a field-oriented LIM drive with the primary end effect is first investigated. On the basis of the backstepping control design, a sliding mode controller embedded with a practical fuzzy compensator is developed to confront the lumped uncertainties of the LIM drive. Moreover, to overcome the obstacle of the unknown bound of the lumped uncertainties in the overall system, an adaptive mechanism based on the sense of the Lyapunov stability theorem is derived to online adjust the fuzzy compensation gains. Moreover, to achieve the robust tracking performance in the presence of the difficulty arisen from the LIM drive accompanied with uncertain nonlinearities and/or external disturbances, the soft-computing technique is adopted for optimizing the designed controller parameters. A system-on-programmable-chip is employed to implement the developed system for the reason of raising the benefits of fast-prototyping and high-performance in industrial applications. The high performance of the proposed control scheme is validated through comparative experimental results.