×

A new improved continuous variable structure controller for accurately prescribed tracking control of BLDD servo motors. (English) Zbl 1077.93527

Summary: A new improved robust variable structure controller is presented to provide an accurately prescribed tracking performance for brushless direct drive (BLDD) servo motors (SM) under uncertainties and load variations. A special integral sliding surface suggested for removing the reaching phase problems can define its ideal sliding mode and virtual ideal sliding trajectory from an initial position of SM. The tracking error caused by the nonzero value of the sliding surface is derived. A corresponding continuous control input with the disturbance observer is suggested to track a predetermined virtual ideal sliding trajectory within a prescribed value under all the uncertainties and load variations. The usefulness of the proposed algorithm is demonstrated through the comparative simulations for a BLDD SM under load variations.

MSC:

93C95 Application models in control theory
93B51 Design techniques (robust design, computer-aided design, etc.)
93B12 Variable structure systems
PDFBibTeX XMLCite
Full Text: DOI

References:

[1] Bartolini, G., Catering phenomena in discontinuous control systems, International Journal of Systems Science, 20, 12, 2471-2481 (1989) · Zbl 0686.93045
[2] Burton, J. A.; Zinober, A. S.I., Continuous approximation of variable structure control, International Journal of Systems Science, 17, 6, 875-885 (1986) · Zbl 0599.93029
[3] Chang, F. J., Twu, S. H., & Chang S. (1990). Adaptive chattering alleviation of variable structure systems control. IEE Proceedings-D, 137; Chang, F. J., Twu, S. H., & Chang S. (1990). Adaptive chattering alleviation of variable structure systems control. IEE Proceedings-D, 137 · Zbl 0734.93021
[4] Chang, F. J., Twu, S. H., & Chang, S. (1992). Tracking control of DC motors via an improved chattering alleviation control. IEEE Transactions on Industrial Electronics, I.E.-39; Chang, F. J., Twu, S. H., & Chang, S. (1992). Tracking control of DC motors via an improved chattering alleviation control. IEEE Transactions on Industrial Electronics, I.E.-39
[5] Esfandiari, F.; Khali, H. K., Stability analysis of a continuous implementation of variable structure control, IEEE Transactions on Automatic Control, AC-36, 5, 616-620 (1991)
[6] Fujimoto, Y.; Kawamura, A., Robust servo-system based on two-degree-of freedom control with sliding mode, IEEE Transactions on Industrial Electronics, I.E.-42, 3, 272-280 (1995)
[7] Furuta, K.; Kobayashi, S., Bang-bang control of direct drive motor, (Proceedings of IECON’90 (1990)), 148-153
[8] Furuta, K.; Kosuge, K.; Obayashi, K. K., VSS-type self-tuning control of direct-drive motor, (Proceedings of the IECON’89 (1989)), 281-286
[9] Hashimoto, H. (1990). Brushless servo motor control using variable structure approach. IEEE Transactions on Industrial Application, IA-34; Hashimoto, H. (1990). Brushless servo motor control using variable structure approach. IEEE Transactions on Industrial Application, IA-34
[10] Kawamura, A.; Itoh, H.; Sakamoto, A., Chattering reduction of disturbance observer based sliding mode control, IEEE Transactions on Industrial Applications, I.A.-30, 2, 456-561 (1994)
[11] Lee, J. H.; Ko, J. S.; Chung, S. K.; Lee, D. S.; Lee, J. J.; Youn, M. J., Continuous variable structure controller for BLDDSM position control with prescribed tracking performance, IEEE Transactions on Industrial Electronics, I.E.-41, 5, 483-491 (1993)
[12] Ohnishi, K., Motion control for advanced mechatronics, IEEE/ASME Transactions on Mecharonics, 1, 2, 56-67 (1996)
[13] Rossi, C., Tonoelli, A., & Zanasi, R., 1991. Variable structure control of a brushless motor. EPE Conference (FirenzeRecord; Rossi, C., Tonoelli, A., & Zanasi, R., 1991. Variable structure control of a brushless motor. EPE Conference (FirenzeRecord
[14] Slotine, J. J.; Sastry, S. S., Tracking control of nonlinear systems using sliding surface, with application to robot manipulators, International Journal of Control, 38, 2, 465-492 (1983) · Zbl 0519.93036
[15] Utkin, V. I., Variable structure systems with sliding mode, IEEE Transactions on Automatic Control, AC-22, 2, 212-222 (1977) · Zbl 0382.93036
[16] Xu, J. X., Hashimoto, H., Slotine, J. J., Arai, Y., & Harashima F. (1989). Implementation of VSS control to robotic manipulators-smoothing modifications. IEEE Transactions on Industrial Electronics, I.E.-36; Xu, J. X., Hashimoto, H., Slotine, J. J., Arai, Y., & Harashima F. (1989). Implementation of VSS control to robotic manipulators-smoothing modifications. IEEE Transactions on Industrial Electronics, I.E.-36
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.