Experimental Setup and Robust Servo DC Motor Position Control Based on Gain Schedule Sliding Mode Controller

摘要

A position control of DC motor servo drive based on the Sliding Mode (SM) approach is presented. The modeling and analysis of the servo DC motor are obtained. The Sliding Mode Controller (SMC) design changes such that its performance is substantially improved. To improve the controller performance in steady stat (zero error) the Integral Sliding Mode Controller (ISMC) is used. Since the main drawback of SMC is a phenomenon, the so-called chattering, resulting from discontinuous controllers. A ISMC with switched gains is used for chattering reduction and controller robustness. For comparison, the proposed ISM with switched gains is compared with that of a PID controller. Experiments and simulations have been carried out in order to validate the effectiveness of the proposed scheme. The proposed controller offers very good tracking; it is highly robust, reaches the final position very fast. Furthermore the application of the SM ensures reduction of the system order by one. Also, quick recovery from matched disturbance in addition to good tracking ability. Moreover, this scheme is robust against the parameters variations and eliminate the influence of modeling.