Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on Position Servo Drive with Sliding Mode Control

슬라이딩 모우드를 이용한 위치 서보 운전에 관한 연구

  • Won, Jong-Soo (Dept. of Electrical Eng. Seoul National University) ;
  • Min, Choon-Ki (Dept. of Electrical Eng. Seoul National University)
  • 원종수 (서울대학교 공과대학 전기공학과) ;
  • 민준기 (서울대학교 공과대학 전기공학과)
  • Published : 1988.07.01
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Abstract

In this paper the application of variable structure control with sliding modes for improving the dynamic response and eliminating chattering of DC servo motor drive is presented. Sliding mode control is an effective means to keep a system insensitive to parameter variation and disturbances. In this method the control structure is changed discontinuously to farce the system dynamic to follow a predetermined trajectory. However the discontinuous change in control structure causes the controller input to chatter and gives non-zero steady state error. To overcome this problem, the discontinuous sign function is replaced by a proper continuous function, and presented through experiment.

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