Sliding Mode Control of Motion and Vibration Without Sensors

1997 ◽  
Author(s):  
Osamu Ohnuki ◽  
Kenzo Nonami
Keyword(s):  
Control System ◽  
Control Problem ◽  
Vibration Control ◽  
Sliding Mode ◽  
Sensorless Control ◽  
Robot Arm ◽  
State Variables ◽  
Robust Control System ◽  
Nonlinear Robust ◽  
Controlled Object

Abstract In this paper, a method to realize the motion and vibration control without sensors is proposed. Sensorless control is generally realized by estimating the state of the system from the measured current in the actuator by means of an observer. It is possible to estimate all state variables because of dynamic interaction in the controlled object. Then we realize nonlinear robust control system based on the observer. In this paper, first we formulate sensorless control system. As controlled objects we deal with a multi-degree-of-freedom structure as a vibration control problem and a single link robot arm as a motion control problem, respectively, and we carry out numerical simulations. Moreover, we also verify the possibility of realization of sensorless control by experiments.

scholarly journals Sliding mode control-based system for the two-link robot arm

2019 ◽  
Vol 9 (4) ◽  
pp. 2771
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Equations ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Very High

In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.

Vibration Control of a Flexible Structure Using ER Dampers

1999 ◽  
Vol 121 (1) ◽  
pp. 134-138 ◽  
Author(s):  
Seung-Bok Choi
Keyword(s):  
Control System ◽  
Vibration Control ◽  
Sliding Mode ◽  
Shear Mode ◽  
Flexible Beam ◽  
Short Columns ◽  
Flexible Beam System ◽  
Er Damper ◽  
External Forces ◽  
Er Fluid

This technical brief addresses the vibration control of a flexible beam structure using ER (electro-rheological) dampers. A clamped-clamped flexible beam system supported by two short columns is considered. An ER damper which is operated in shear mode is designed on the basis of Bingham model of the ER fluid, and attached to the flexible beam. After deriving the governing equation of motion and associated boundary conditions, a sliding mode controller is formulated to effectively suppress the vibration of the beam caused by external forces. In the formulation of the controller, parameter variations such as frequency deviation are treated to take into account the robustness of control system. The effectiveness of the proposed control system is confirmed by both simulation and experimental results.

Investigation of active vibration control system for trailed two-wheeled implements

2011 ◽  
Vol 226 (1) ◽  
pp. 55-65 ◽  
Author(s):  
H-J Kim
Keyword(s):  
Control System ◽  
Vibration Control ◽  
Sliding Mode ◽  
Model Simulation ◽  
Active Vibration Control ◽  
The Body ◽  
Actual Performance ◽  
The Road ◽  
Force Tracking ◽  
Active Vibration

This paper presents an active vibration control (AVC) system for trailed two-wheeled implements (TTWI) equipped with high precision electronic devices. With the aim of isolating disturbance forces to the devices, a hydraulically actuated vibration control system is devised. In order to suppress vibratory motions to the body components, considering the TTWI system characteristics, a vibration control and a force tracking control strategy is adopted. As the vibration controller, the adaptive and skyhook control schemes are applied. From full order and reduced order model for the actuating module, as the tracking controller, the sliding mode control scheme is adopted regarding parameter variations. On the basis of the roll plane TTWI system model, simulation work is performed. Finally, after implementation of the experimental setup with the TTWI system and the road simulating module considering practical requirements, actual performance of the devised AVC system is evaluated in various disturbance conditions.

scholarly journals Fractional-order sliding mode controller for the two-link robot arm

2020 ◽  
Vol 10 (6) ◽  
pp. 5579
Author(s):  
Trong-Thang Nguyen
Keyword(s):  
Control System ◽  
Fractional Order ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Robot Arm ◽  
System Quality ◽  
Static Error ◽  
Angular Coordinates ◽  
Very High

In this paper, the author proposes a sliding mode controller with the fractional-order for the two-link robot arm. Firstly, the model and dynamic equations of the two-link robot arm are presented. Based on these equations, the author builds the controller for each joint of the robot. The controller is a sliding mode controller with its order is not an integer value. The task of the controller is to adjust the torques acted on the joints in order for the angular coordinates of each link to coincide with the desired values. The effectiveness of the proposed control system is demonstrated through Matlab-Simulink software. The robot model and controller are built to investigate the system quality. The results show that the quality of the control system is very high: there is not the chattering phenomenon of torques, the response angles of each link quickly reach the desired values, and the static error equal to zero.

scholarly journals Rotor Position Recognition Technology of Permanent Magnet Linear Synchronous Motor Based on Sliding Mode Observer

2021 ◽  
Vol 2125 (1) ◽  
pp. 012029
Author(s):  
Ruihao Wang ◽  
Xiaowei Pan ◽  
Qihui Wang ◽  
Junling Huo ◽  
Hongxing Wu
Keyword(s):  
Control System ◽  
Simulation Model ◽  
Permanent Magnet ◽  
Sliding Mode ◽  
Sensorless Control ◽  
Synchronous Motor ◽  
Sliding Mode Observer ◽  
Rotor Position ◽  
Linear Synchronous Motor ◽  
Position Sensorless

Abstract Position sensorless control system of permanent magnet linear synchronous motor has some advantages: simple structure, easy maintenance, high efficiency, good speed performance, etc. This paper designed a position sensorless control system of permanent magnet linear synchronous motor based on sliding mode observer, namely taking advantage of a sensorless algorithm to estimate the pole position and speed. Firstly, the principle of sliding mode control and basic conditions which need to achieve are analyzed. And then, a sliding mode observer of the permanent magnet linear synchronous motor sensorless control system is designed. The related simulation model is built to study the effect of sliding mode observer for rotor position accuracy. The simulation model is implemented to build models of permanent magnet linear synchronous motor vector control system based on sliding mode observer and simulate the control performance of position sensorless control. In the last part, the feasibility of the design scheme is verified by analysis of simulation results.

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