Title :
Low speed servo system with second-order sliding mode algorithm
Author :
Ji, Ke-Hui ; Shen, Jian-Xin ; Jin, Meng-Jia
Author_Institution :
Coll. of Electr. Eng., Zhejiang Univ., Hangzhou, China
Abstract :
Performance of a servo motor drive system may deteriorate due to the effect of load disturbances, motor torque ripple and parameters variation, etc.. Especially, during low speed operation, speed tracking performance and dynamic response further deteriorate since the speed feedback is restricted. In this paper, a speed observer based on second order sliding mode algorithm is presented, which provides the first and second derivatives of a sampled smooth signal. By using this method, a slotless permanent magnet synchronous servo motor equipped with a moderate resolution (1000 ppr) encoder can run stably over the low speed region. Experimental results verify that the proposed method has rapid dynamic performance and very strong robustness against load disturbances and simultaneously attenuates chattering effectively. The method is easy to implement in practical applications.
Keywords :
angular velocity control; dynamic response; feedback; machine control; motor drives; observers; permanent magnet motors; robust control; servomotors; signal sampling; synchronous motor drives; variable structure systems; chattering attenuation; dynamic response; load disturbance effect; low speed operation; motor torque ripple; parameter variation; resolution encoder moderation; robustness; second-order sliding mode algorithm; slotless permanent magnet synchronous servomotor drive system; smooth signal sampling; speed feedback; speed observer; speed tracking performance; Heuristic algorithms; Motor drives; Permanent magnet motors; Robustness; Servomotors; Synchronous motors; Torque; dynamic response; low speed servo system; second-order sliding mode algorithm; speed tracking performance;
Conference_Titel :
Industrial Electronics (ISIE), 2012 IEEE International Symposium on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4673-0159-6
Electronic_ISBN :
2163-5137
DOI :
10.1109/ISIE.2012.6237172