Nonlinear Speed Control of a Series DC Motor

Abstract:

The nonlinear speed control problem of a series dc motor was considered. Based on the nonlinear model built by a hybrid method, in which the local stability was proved by the Lyapunov’s first method to ensure the meaningfulness of the identification of the steady-state-about plant parameters, a sliding-mode control law, with a load torque Luenberger observer and an angular acceleration estimator, was derived theoretically, which effectiveness demonstrated by simulations and experiments. In order to reduce the steady-state error caused by the discrete implementation, a modified sliding-mode control with an auxiliary PI controller was proposed. The experiments show that the modified sliding-mode control law is superior to the PID regulator and the ordinary sliding-mode control law.

• Periodical: Applied Mechanics and Materials (Volume 33)
• Pages: 612-617
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.33.612
• Online since: October 2010
• Authors: Bing Xing Tang, Zhang Jun Wang
• Keywords: Luenberger Observer, Series DC Motor, Sliding Mode, Speed Control

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