Title :
Sliding mode variable structure control for stable platform
Author :
Chen, Aiwu ; Lin, Wenhui ; Wu, Miao ; Wang, Xiangzhou
Author_Institution :
Sch. of Mech. Electron. & Inf. Eng., China Univ. of Min. & Technol. (Beijing), Beijing, China
Abstract :
The two degrees of freedom stable platform is driven by DC servo motor. The present work introduced the sliding mode variable structure control (SMVSC) into DC motor speed and angle position control system, aiming to improve the dynamic performance of DC motor, increase the precision of control when the system runs at a low speed as well as lower the high-frequency noise caused by torque ripple. Based on the mathematics model of DC motor, quadratic optimal control based switching function and exponential approach law based SMVSC controller have been designed, respectively. Simulation has been conducted with Matlab software so as to obtain a favorable speed and angle position tracking effect, minimize its responding and adjusting time as well as effectively weaken the chattering and disturbance.
Keywords :
DC motors; angular velocity control; optimal control; position control; servomotors; variable structure systems; DC servo motor; Matlab software; angle position control; angle position tracking; degrees of freedom; dynamic performance; exponential approach; quadratic optimal control; sliding mode control; speed control; speed tracking; stable platform; switching function; torque ripple; variable structure control; Automation; DC motors; Educational institutions; Mathematical model; Servomotors; Switches; DC motor; position/speed control; sliding mode variable structure control; stable platform;
Conference_Titel :
Electric Information and Control Engineering (ICEICE), 2011 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-8036-4
DOI :
10.1109/ICEICE.2011.5777884
