Journal of the Korean Society of Fisheries and Ocean Technology (수산해양기술연구)

The Korean Society of Fisheries and Ocean Technology (한국수산해양기술학회)
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Robust speed control for DC motor based on sliding mode with a disturbance observer

외란관측기를 갖는 SMC에 의한 DC모터의 강인한 속도제어

  • Received : 2019.09.23
  • Accepted : 2019.11.04
  • Published : 2019.11.30
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Abstract

This paper deals with the disturbance observer (DOB) based sliding mode control (SMC) for a DC motor to control motor rotating speed precisely and to ensure strong robustness against disturbance including load torque and parameter variation. The reason of steady state error in speed on conventional SMC without DOB is analyzed in detail. Especially, the suggested DOB is designed to prevent measuring noise and harmonics caused by derivative operation on rotating speed. The control performance of the DOB based SMC is evaluated by the various simulations. The simulation results showed that the DOB based SMC had more robust performance than the SMC system without DOB. Especially, precise speed control was possible even though motor parameter variation and load torque was added to the system.

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References

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