Title :
A Sliding Mode Motion Controller Design with Internal Two Degree of Freedom Scheme Compensation
Author_Institution :
Dept. of Electr. Eng., Nat. Chin-Yi Univ. of Technol., Taichung, Taiwan
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;
Conference_Titel :
Computer, Consumer and Control (IS3C), 2014 International Symposium on
Conference_Location :
Taichung
DOI :
10.1109/IS3C.2014.242
