Robust robt servosystem

摘要

The paper deals with the chattering reduction problem in the robust SISO variable structure position control system. Due to parastic nonlinearities and unmodeled dynamics influence, the sliding mode in the real system vanishes and the chattering appears. The well-known idea of locking the real sliding mode frequency to a convenient value by means of an external dither injection is used to satisfy the t-suboptimal design goals. The amplitude of the high frequency sawtooth signal and the modified slope of the linear switching function are the subjects of the synthesis presented. The results of the design ae both the overshoot and the chattering free response, the systme robustness in theprocess in the presence of the prameter uncertainty, the fastest possible dynamics of the transient and the simple impelmentation of the algorithm. The synthesis effectivness is verified by numeric simulations as well as by the experiment with the three-dimensional laboratory stand.