The Transactions of the Korean Institute of Electrical Engineers (대한전기학회논문지)
- Volume 38 Issue 3
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- Pages.228-236
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- 1989
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- 0254-4172(pISSN)
Design of Digital Position Controller for DC Motors Using Variable Structure Control System
가변구조 제어계통에 의한 직류 전동기의 위치제어기 설계
Abstract
The theroy of variable structure control system (VSS) is applied to the position control for DC servo-motors. In order to use the microcomputer as a control device, the principles of VSS for the continuous-time system are extended to the discrete-time system. A new switching law is proposed to achieve the reduction of chattering. It adds a new switching structure to the conventional switching sturctures. This switching region is set near and including the conventional switching curve. The new algorithm is obtained for single-input second order system, and applied to the position control of a DC servo-motor. Experimental results show that the transient behavior is improved due to the reduction of chattering and good robustness properties are demonstrated.
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