Sliding Mode Control of Servo System with Brushless DC Motor Based on Nominal Model

Abstract:

For brushless DC motor with parameter uncertainties and load disturbances in the practical servo system such as numerical control machine (NCM), a novel sliding mode control algorithm is proposed. This control algorithm consists of two controllers. One is the sliding mode controller for practical plant to ensure robustness against parameter uncertainties and load disturbances, the other is the backstepping controller for nominal model to compensate the position error for practical servo system. The Lyapunov approach is used to prove the convergence of the controllers.At last, The simulation results of nominal model-based sliding mode control algorithm show that it has high robustness and good position tracking performance with respect to parameter uncertainties and load disturbances.

• Periodical: Applied Mechanics and Materials (Volume 391)
• Pages: 415-419
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.391.415
• Online since: September 2013
• Authors: Fan Wang, Yi Xin Su, Hong Min, Fei Long
• Keywords: Brushless Dc Motor (BLDCM), Load Disturbance, Nominal Model, Position Servo System, Sliding Mode Control

References

[1] Carsten-Sunnke Berendsen, Gerard Champenios. Commutations Strategies for Brushless DC Motors: Influence on Instant Torque, IEEE Transactions on power electronics (1993).

DOI: 10.1109/63.223976

[2] Kais Atallah, Jiabin Wang, David Howe. Torque-ripple minimization in modular permanent -magnet brushless machines, IEEE Transactions on industry applications(2003).

DOI: 10.1109/tia.2003.818986

[3] Hyeung-sik Choi, Yong-heon Park. Global sliding mode control-Improved Design for a Brushless DC Motor, IEEE Control Systems Magazine(2001).

DOI: 10.1109/37.924795

[4] Wilfrid Perruquetti, Jean Pierre Barbot. SLIDING MODE CONTROL IN ENGINEERING, Marcel Dekker  Inc , New York (2004).

[5] LIU Jin-kun, SUN Fu-chun . Nominal Model Based Sliding Mode Control with Backstepping for 3-Axis Flight Table, CH INESE JOURNAL OF AERONAUTICS (2006).

DOI: 10.1016/s1000-9361(11)60269-0

[6] Faa-Jeng Lin and Rong-Jong Wai. Adaptive Backstepping Control Using Recurrent Neural Network for Linear Induction Motor Drive, IEEE Transactions on industry electronics(2002).

DOI: 10.1109/41.982257

[7] Lu Y S, Chen J S. Design of a global sliding-mode controller for a motor drive with bounded control, International Journal of Control(1995).

DOI: 10.1080/00207179508921579

[8] Choi H S, Park Y H, Cho Y S , et al . Global sliding mode control improved design for a brushless DC motor, IEEE Control Systems Magazine(2001).

DOI: 10.1109/37.924795