Title :
A fuzzy sliding mode approach for the two-mass system
Author :
Szabó, Dávid ; Kerekes, Sándor ; Dranga, Octavian ; Gajdár, Tibor
Author_Institution :
Control Res. Group, Hungarian Acad. of Sci., Budapest, Hungary
Abstract :
This paper presents a new speed control method for a so called two mass system. To achieve a good performance, the state variables are divided into two groups. The sliding surface is designed in a reduced order state-space and the remaining state variables are controlled by a fuzzy method. Two control loops are proposed, the outer angular speed control loop based on fuzzy logic calculates the reference signals (in other words the sliding manifolds) for the inner loop, where the torsion of the shaft is handled as a variable under control. An observer based discrete-time sliding mode (ODSM) control is implemented in the inner loop. The simulated system consists of a conventional DC servo gear motor with encoder feedback and inertia load coupled by a flexible shaft
Keywords :
DC motors; angular velocity control; discrete time systems; fuzzy control; machine control; reduced order systems; servomotors; state-space methods; variable structure systems; DC servo gear motor; control loops; encoder feedback; flexible shaft; fuzzy method; fuzzy sliding mode approach; inertia load; observer based discrete-time sliding mode control; outer angular speed control loop; reduced order state-space; shaft torsion; sliding surface design; speed control method; two-mass system; DC motors; Fuzzy control; Fuzzy logic; Fuzzy systems; Gears; Servomechanisms; Servomotors; Shafts; Sliding mode control; Velocity control;
Conference_Titel :
Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on
Conference_Location :
Bled
Print_ISBN :
0-7803-5662-4
DOI :
10.1109/ISIE.1999.801811