二慣性速度サーボシステムに対するモデル規範型スライディングモードコントローラの一設計法

概要

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In this paper, we describe a model reference type sliding mode controller for a two-mass speed control system. The two-mass system consists of a dc motor, a load inertia, and an elastic shaft which connects between them. To design the conventional sliding mode controller for the two-mass system, the nominal parameters of the system are required. Although the nominal parameters of the motor side such as the dc power amplifier gain K, the motor inertia J1 and the torque constant Kt are easy to know, the load side parameters such as the load inertia J2 and the stiffness of the shaft Ke are unknown in advance and can not be used in the design. Therefore, the design method without using the load information is expected. In the paper, new design scheme of the sliding mode controller, in which a reference model and an adaptive mechanism are introduced, is proposed. Some experimental responses of the system under the proposed sliding mode control are measured. These result the compatibility of simplification of the design procedure and robustness for the friction, the modeling error and the disturbance.
社団法人電気学会の論文
2003-03-01