POSITION CONTROL OF D.C. SERVO MOTOR USING VARIABLE STRUCTURE WITH SLIDING MODE

슬라이딩 모드에 의한 직류 서브 모터의 위치 제어

A design principles of discontinuous control are studied and then are applied to position control of D. C. sevo drive fed by a four-quadrant chopper. Variable structure control with sliding mode gives fast dynamic response with no overshoot. And the resulting system bas good robust properties independent of the wide variations of electrical, mechanical parameters and external disturbances without any system identification. But the high frequency chatter component of control input in the sliding mode is undesirarable. A continuous control law that is a approximation to discontinuous control law is used for design.