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Sliding Mode Control of Servo Motor Based on Novel Reaching Law
Jin, Xin1; Wang, Anna1; Wang, Dazhi1; Zhang T(张涛)2,3
Department工业控制网络与系统研究室
Conference Name37th Chinese Control Conference
Conference DateJuly 25-27, 2018
Conference PlaceWuhan, China
Author of SourceAcademy of Mathematics and Systems Science (AMSS), CAS; China Society for Industrial and Applied Mathematics; et al.; Huazhong University of Science and Technology; Hubei Association of Automation; Wuhan University of Science and Technology
Source PublicationProceedings of the 37th Chinese Control Conference
PublisherIEEE Computer Society
Publication PlaceNew York
2018
Pages5653-5658
Indexed ByEI ; CPCI(ISTP)
EI Accession number20184606054116
WOS IDWOS:000468622400073
Contribution Rank2
ISSN2161-2927
ISBN978-9-8815-6395-8
KeywordRobot Servo System Novel Reaching Law Sliding Mode Control PI control
AbstractA new type of exponential rate is proposed, in order to improve the dynamic quality of servo motor speed control system. The reaching law relates the approach speed to the change of the system state quantity, which overcomes the shortcomings of the conventional exponential approach rate. The inherent buffeting problem of the sliding mode is effectively suppressed. The reaching law is applied to the servo motor speed control system, and a sliding mode variable structure speed controller based on a novel exponential reaching law is designed to replace the traditional PI regulator. Simulations and experiments show that the speed controller is robust to system parameters uncertainties, external disturbances and noise, and it can effectively improve the dynamic and static characteristics of the system. This makes the servo motor can be better applied to the robot servo system.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/23822
Collection工业控制网络与系统研究室
Corresponding AuthorJin, Xin
Affiliation1.College of Information Science and Engineering, Northeastern University, Shenyang, 110819
2.Key Laboratory of Industrial Control Network and System, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang,110016
3.School of electrical engineering, Dalian University of Technology, Dalian,114023
Recommended Citation
GB/T 7714
Jin, Xin,Wang, Anna,Wang, Dazhi,et al. Sliding Mode Control of Servo Motor Based on Novel Reaching Law[C]//Academy of Mathematics and Systems Science (AMSS), CAS; China Society for Industrial and Applied Mathematics; et al.; Huazhong University of Science and Technology; Hubei Association of Automation; Wuhan University of Science and Technology. New York:IEEE Computer Society,2018:5653-5658.
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