スライディングモード制御を用いた油圧モータの速度制御

概要

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Rotational speed control of a hydraulic motor with a large inertia load has issues on stability and sometimes falls into unstable. In this paper, the discrete-time sliding mode control (SMC) is applied to rotational speed control of a hydraulic motor for improving its robustness. Modeling of the control components and design of the sliding surface (switching line) in the state space are discussed. Furthermore, one of the means attenuating chattering due to SMC is presented. The control characteristics is evaluated by a testing apparatus which consists of the hydraulic motor of 28 cm^3/ rev coupled to the fly-wheel with large inertia load of 0.88 kg・m^2. The results of a theoretical and experimental study of SMC show several benefits such as short settling time and low sensitivity to disturbances and system parameter variations.
一般社団法人日本機械学会の論文
2001-08-25