Integral Slide Mode Variable Structure Control of the Machine Angular Position Servo System with Friction

摘要

In order to lighten the disadvantageous effect of the friction on the machine angular position servo system, the controller is designed using the variable structure control with integral slide mode. The mathematical model of the machine servo system is built with Stribeck friction model. The integral slide mode function includes tracking error and the integral of the tracking error. The one order differential equation of the slide mode is a second-order linear model. In order to alleviate the chattering, the saturation function replaces the sign function. The simulation result show the tracking precision is high and the controller output has not obvious chattering. The controller meets the tracking precision of the machine angular position servo system.