Title :
A sliding mode position controller for nonlinear time-varying motion control system
Author :
Bogosyan, O. Seta ; Gokasan, Metin ; Jafarov, Elbrus M.
Author_Institution :
Fac. Electr.-Electron. Eng., Istanbul Tech. Univ., Turkey
Abstract :
In this paper, a sliding mode control law is derived for a nonlinear, time varying permanent magnet synchronous motor (PMSM) driven direct drive system (DDS). A sliding controller is developed for set-point tracking. Its existence and the reaching conditions derived for the electromechanical system together with the proof of asymptotic stability by using the Lyapunov method. Experiments are performed by implementing the control law on a DSP32 based PMSM driven single link arm. The results obtained support the developed theory and demonstrate the robustness expected from the control method. The designed control methods which offer solutions to common control problems could find a wide range of application especially in industries involved with the control of electrical motors, industrial robots, servomechanisms and other electromechanical systems
Keywords :
control system synthesis; machine control; motion control; permanent magnet motors; position control; robots; synchronous motor drives; time-varying systems; variable structure systems; DSP32 based PMSM driven single link arm; Lyapunov function method; Lyapunov method; asymptotic stability; direct drive system; electrical motors control; electromechanical system; industrial robots control; nonlinear time-varying motion control system; permanent magnet synchronous motor drive; reaching conditions; servomechanisms control; set-point tracking; sliding mode position controller; Asymptotic stability; Control systems; Electrical equipment industry; Electromechanical systems; Industrial control; Lyapunov method; Permanent magnet motors; Robust control; Sliding mode control; Time varying systems;
Conference_Titel :
Industrial Electronics Society, 1999. IECON '99 Proceedings. The 25th Annual Conference of the IEEE
Conference_Location :
San Jose, CA
Print_ISBN :
0-7803-5735-3
DOI :
10.1109/IECON.1999.816550