Hybrid PI Sliding Mode Position and Speed Controller for Direct Drive

2014 ◽  
pp. 741-748 ◽  
Author(s):  
S. Brock
Keyword(s):  
Sliding Mode ◽  
Direct Drive ◽  
Speed Controller

scholarly journals Adaptive speed control method for electromagnetic direct drive vehicle robot driver based on fuzzy logic

2019 ◽  
Vol 52 (9-10) ◽  
pp. 1344-1353 ◽  
Author(s):  
Gang Chen ◽  
Weigong Zhang ◽  
Xu Li ◽  
Bing Yu
Keyword(s):  
Fuzzy Logic ◽  
Control Method ◽  
Tracking Error ◽  
Speed Control ◽  
System Structure ◽  
Direct Drive ◽  
Test Standards ◽  
Speed Controller ◽  
Fuzzy Neural ◽  
Vehicle Test

To solve the shortcomings of existing control methods for an electromagnetic direct drive vehicle robot driver, including large speed tracking error and large mileage deviation, a new adaptive speed control method for the electromagnetic direct drive vehicle robot driver based on fuzzy logic is proposed in this paper. The electromagnetic direct drive vehicle robot driver adapts an electromagnetic linear motor as its drive mechanism. The control system structure is designed. The coordinated controller for multiple manipulators is presented. Moreover, an adaptive speed controller for the electromagnetic direct drive vehicle robot driver is proposed to achieve the accurate tracking of desired speed. Experiments are conducted using a Ford FOCUS car. Performances of the proposed method, proportional–integral–derivative, and fuzzy neural network are compared and analyzed. Experimental results demonstrate that the proposed control method can accurately track the target speed, and it can inhabit the change of speed caused by interference under different test conditions, and it has small mileage deviation, which can meet the requirements of national vehicle test standards.

Fuzzy adaptive sliding mode control of a direct drive robot

1996 ◽  
Vol 19 (2) ◽  
pp. 215-227 ◽  
Author(s):  
Kemalettin Erbatur ◽  
Okyay Kaynak ◽  
Asif Sabanovic ◽  
Imre Rudas
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Direct Drive ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Fuzzy Adaptive

scholarly journals Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

2016 ◽  
Vol 753 ◽  
pp. 052031 ◽  
Author(s):  
Jagath Sri Lal Senanayaka ◽  
Hamid Reza Karimi ◽  
Kjell G. Robbersmyr
Keyword(s):  
Wind Turbine ◽  
Sliding Mode ◽  
Direct Torque Control ◽  
Torque Control ◽  
Small Wind Turbine ◽  
Speed Controller

DESIGN AND ANALYSIS OF SUPER TWISTING SLIDING MODE CONTROL FOR MACHINE TOOLS

2016 ◽  
Vol 78 (10-3) ◽  
Author(s):  
Chiew Tsung Heng ◽  
Zamberi Jamaludin ◽  
Ahmad Yusairi Bani Hashim ◽  
Nur Aidawaty Rafan ◽  
Lokman Abdullah ◽  
...  
Keyword(s):  
Machine Tools ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Algorithms ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Positioning System ◽  
Direct Drive ◽  
Chattering Effect

High demands of precision on machine tools are hardly cope by using existing classic control algorithms. This paper focuses on the design, analysis and validation of a super twisting sliding mode controller on a single axis direct drive positioning system for improved tracking performances. The second order positioning system parameters were determined using input and output of measured data. Effects of two gain parameters in control algorithm on the quality of the control input and tracking error were analysed experimentally. The gain parameters were selected based on magnitude reduction in chattering during practical application. The performance of tuned super twisting sliding mode controller was compared with a traditional sliding mode controller using sigmoid-like function. Results showed that super twisting sliding mode controller reduced the chattering effect and improved the performance of system in terms of tracking error by 16.5%.  

Time-Varying Sliding Mode Control for Linear Motor Servo System

2011 ◽  
Vol 383-390 ◽  
pp. 1267-1272
Author(s):  
Yi Biao Sun ◽  
Lan Yang ◽  
Cheng Yuan Wang
Keyword(s):  
Sliding Mode ◽  
Control Process ◽  
Servo System ◽  
Absolute Error ◽  
Linear Motor ◽  
Time Varying ◽  
Initial State ◽  
Speed Controller ◽  
Parameter Variations ◽  
Global Robustness

For the characteristics of permanent magnet linear motor (PMLSM) servo system in machine tool feeding system suffering from the effect of parameter variations, load disturbances and so on, the time-varying sliding mode position and speed controller was designed. By designing the time-varying sliding mode line, the line is changing with time t and its slope does not change during the control process. And the error state of the control system always lies on the sliding mode line from the beginning of any initial state. The reaching phase is eliminated. During the design process, because of the control signal is restricted, optimize the controller parameters by minimizing the integral absolute error (IAE). And the convergence rate of error is speeded up. The simulation results prove that the system have global robustness to the parameter variations and disturbance.

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