새로운 슬라이딩 라인을 갖는 가변구조 방식에 의한 직류 모터의 위치 제어

DC Motor Position Control Using Variable Structure Systems with a New Sliding Surface

In the VSS control, the trajectories with a conventional sliding surface have a reaching phase which is an interval from the initial state to the first touching of the sliding surface. Since the sliding mode control can not be realized in a reaching phase, the trajectories may be sensitive to the disturbances and parameter variations. A simple nonlinear sliding surface is proposed to improve the robustness in a reaching phase. The position control of a PM DC servo motor using a new sliding surface is carried out and is compared to the one using the conventional surface. The sliding mode occurs in entire trajectories with the proposed new sliding surface and the improved robustness is obtained.