A Sliding Mode Motion Controller Design with Internal Two Degree of Freedom Scheme Compensation

Author

Chiu-Keng Lai

Author_Institution

Dept. of Electr. Eng., Nat. Chin-Yi Univ. of Technol., Taichung, Taiwan

fYear

2014

fDate

10-12 June 2014

Firstpage

924

Lastpage

927

Abstract

To develop a system with robustness, a servo motor motion controller by combining the two-degree-of-freedom (2DOF) system and sliding mode control (SMC) is proposed. The discussed motion is point-to-point control with trapezoid velocity profile. SMC is designed to guide the motor motion to follow a pre-defined trail, and the inner 2DOF scheme is used to compensate the deterioration due to the adoption of load observer. The valid ness of the hybrid scheme is demonstrated by simulation results.

Keywords

control system synthesis; motion control; observers; robust control; servomotors; variable structure systems; 2DOF system; SMC; internal two degree of freedom scheme compensation; load observer; point-to-point control; robustness; servo motor motion controller; sliding mode motion controller design; trapezoid velocity profile; Acceleration; Observers; Permanent magnet motors; Robustness; Sliding mode control; Synchronous motors; Chattering; Motion Controller; Observer; Sliding Mode Control; Two-Degree-of-Freedom Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer, Consumer and Control (IS3C), 2014 International Symposium on

Conference_Location

Taichung

Type

conf

DOI

10.1109/IS3C.2014.242

Filename

6846034