Modeling and control of an electric servo drive with strong restrictions in the control variable

摘要

Detailed mathematical model of a DC servo drive is established and validated by measurements. Due to battery power supply, a pulse-width modulated (PWM) voltage signal, and a microcontroller with low sampling rate (typical for embedded systems) a comprehensive switched non-linear description results. Linear and sliding-mode controllers (SMC) are designed for the drive. Robustness with respect to parameter variations and measurement noise is investigated by simulation. In contrast to many other reports the linear controller outperforms the SMC because of the given restrictions in control input and sampling time.