EXPERIMENTAL SET UP VERIFICATION OF SERVO DC MOTOR POSITION CONTROL BASED ON INTEGRAL SLIDING MODE APPROACH | ||
| JES. Journal of Engineering Sciences | ||
| Article 11, Volume 39, No 5, September and October 2011, Pages 1095-1110 PDF (454.39 K) | ||
| Document Type: Research Paper | ||
| DOI: 10.21608/jesaun.2011.129387 | ||
| Author | ||
| Ali Yousef | ||
| Electrical Engineering Department, Faculty of Engineering, Assiut University. | ||
| Abstract | ||
| In this paper, a novel controller based on the Integral Sliding Mode Controller (ISMC) is proposed and designed for controlling DC motor in a servo drive. The modeling and analysis of the servo DC motor are obtained. To improve the controller performance in steady state (zero error), the integral sliding mode controller (ISMC) is designed and evaluated. Since the main drawback of SMC is a phenomenon, that called chattering resulting from discontinuous controllers. An ISMC with switched gains is used for chattering reduction and controller robustness. For comparison, the proposed ISMC with switched gains is compared with that of a PID controller. Experimental verification and simulations have been carried out in order to validate the effectiveness of the proposed scheme. The proposed controller offers very good tracking, also it is highly robust and controlled plant reached very fast to the final position. Furthermore the application of the SM ensures reduction of the system order by one and quick recovery from matched disturbance in addition to good tracking. Moreover, this scheme is robust against the parameters variations. | ||
| Keywords | ||
| Servo DC motor; integral sliding mode control; PID controller | ||
|
Statistics Article View: 103 PDF Download: 882 |
||
