Integral sliding-mode control of a magnetically suspended balance beam: analysis, simulation, and experiment

Author

Lee, Jun-Ho ; Allaire, Paul E. ; Tao, Gang ; Zhang, Xuerui

Author_Institution

Dept. of Mech. & Aerosp. Eng., Virginia Univ., Charlottesville, VA, USA

Volume

6

Issue

3

fYear

2001

fDate

9/1/2001 12:00:00 AM

Firstpage

338

Lastpage

346

Abstract

This paper presents a sliding-mode controller with integral compensation for a magnetic suspension balance beam system. The control scheme comprises an integral controller which is designed for achieving zero steady-state error under step disturbances, and a sliding-mode controller which is designed for enhancing robustness under plant uncertainties. A procedure is developed for determining the coefficients of the switching plane such that the overall closed-loop system has stable eigenvalues. A proper continuous design signal is introduced to overcome the chattering problem. The performance of the balance beam control system is illustrated by simulation and experimental results showing that the proposed integral sliding-mode controller method is effective under external step disturbances and input channel parameter variations

Keywords

balances; closed loop systems; compensation; eigenvalues and eigenfunctions; magnetic bearings; pole assignment; robust control; tracking; variable structure systems; balance beam system; closed-loop system; eigenvalues; electromagnets; integral compensation; magnetic suspension; pole placement; robust control; robustness; sliding-mode control; tracking; Control system synthesis; Control systems; Eigenvalues and eigenfunctions; Error correction; Magnetic levitation; Robust control; Signal design; Sliding mode control; Steady-state; Uncertainty;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.951371

Filename

951371