Tracking control of DC motors via an improved chattering alleviation control

Author

Chang, Fu-Juay ; Twu, Shih-Hsiung ; Chang, Shyang

Author_Institution

Dept. of Electr. Eng., Nat. Tsing Hua Univ., Hsinchu, Taiwan

Volume

39

Issue

1

fYear

1992

fDate

2/1/1992 12:00:00 AM

Firstpage

25

Lastpage

29

Abstract

An improved version of the chattering alleviation control (CAC) augmented with boundary layers is proposed. It preserves all the features of CAC and exhibits three additional advantageous properties. First, the resultant control law is continuous instead of the discontinuous function proposed in CAC. Second, the chattering level is smaller than that of CAC. Third, the parameters in the boundary layer approach can be determined quantitatively via this algorithm. The resultant system via this nonlinear feedback control law is proved to be asymptotically stable, which is then applied to the tracking control of DC motors. Experimental results indicate that the high-speed tracking of the desired trajectory can be achieved. In addition, the applied armature voltage contains fewer higher frequency components as compared to other variable structure systems control

Keywords

DC motors; feedback; machine control; nonlinear control systems; position control; variable structure systems; DC motors; armature voltage; boundary layers; chattering alleviation control; continuous control law; high-speed tracking; nonlinear feedback control; path tracking; tracking control; variable structure systems control; Control systems; DC motors; Feedback control; Frequency; Modems; Nonlinear control systems; Sliding mode control; Trajectory; Variable structure systems; Voltage control;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.121908

Filename

121908