A time-varying sliding surface for robust position control of a DCmotor drive
Betin, F.
Pinchon, D.
Capolino, G.-A.
Inst. Univ. de Technologic de l'Aisne-CREA, Univ. of Picardie Jules Verne, Cuffies;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Apr 2002
Volume: 49,
Issue: 2
On page(s): 462-473
ISSN: 0278-0046
References Cited: 19
CODEN: ITIED6
INSPEC Accession Number: 7232994
Digital Object Identifier: 10.1109/41.993280
Current Version Published: 2002-08-07
Abstract
In this paper, a new variable-structure position control law for a
DC motor is proposed. The algorithm, based on a time-varying switching
line, guarantees the existence of a sliding mode from the beginning of
the shaft motion. Indeed, the surface is initially designed to pass
through the initial representative point and subsequently moved toward a
predetermined desired surface via shifting. By this means, the reaching
phase is eliminated and the motor behavior is insensitive to unknown
mechanical configuration changes. The algorithm has been tested in
simulation and the experiment has been performed using a low-cost 16-bit
microcontroller. Then, an advanced test bed is used in order to evaluate
the tracking properties and the robustness capacities of the
variable-structure control law with variations of the mechanical
configuration
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