Modified sliding-mode speed controller for servo drives

In the paper a problem of robustness of sliding-mode speed control for AC drives is analysed. Some high sensitivity of sliding mode speed controllers to high frequency periodic disturbances is shown. The proposed modified structure of sliding mode controller bases on introduction of filtering module, what leads to good system dynamics of slight sensitivity to the load parameters variation, effective chattering reduction and elimination of steady state control. Proposed general structure is universal and can be applied not only in speed control systems. Results of computer simulation study proved low sensitivity of classical sliding mode controller to high frequency disturbances and showed clearly the advantages of elaborated control method. Experimental investigation of constructed laboratory stand verify theoretical investigations and prove main simulation results