Robust Integral Sliding Mode Tracking Control of a Servo Drives with Reference Trajectory Generator

Stefan Brock

doi:10.1007/978-3-319-11248-0_23

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Title

Robust Integral Sliding Mode Tracking Control of a Servo Drives with Reference Trajectory Generator

Authors

Stefan Brock (WE) ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2015

Chapter type

paper

Publication language

english

Abstract

EN In the paper robust control of speed and position of servo drives is analysed. A modified approach to the design of a robust speed and position controller is proposed, in which the trajectory of motion is invariant to load torque and system parameter variations. The proposed controller structure consists of a reference trajectory generator and a sliding mode controller with output integrator, operating with the reference model. Simple structure of reference signal generator is based on discrete model of an ideal drive system with cascade control. The obtained experimental results verify the proposed method and prove good quality of control.

Pages (from - to)

305 - 313

DOI

10.1007/978-3-319-11248-0_23

URL

https://link.springer.com/chapter/10.1007/978-3-319-11248-0_23

Book

Analysis and Simulation of Electrical and Computer Systems

Presented on

11th Scientific Conference on Selected Issues of Electrical Engineering and Electronics, WZEE 2013, 27-30.09.2013, Rzeszów, Poland

Publication indexed in

WoS (15)

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