| 摘要: |
|
| 关键词: |
| DOI： |
| Received:December 13, 2009Revised:September 21, 2010 |
| 基金项目:This work was partly supported by the Hong Kong Innovation and Technology Fund (No. ITS/005/01), the National Natural Science Foundation of China (No. 51005086), and the Fundamental Research Funds for the Central Universities (No. 2010MS085). |
|
| A class of second-order sliding mode controller for servo systems |
| Dailin ZHANG,Tom C. KONG,Ruxu DU |
| (School of Mechanical Science and Engineering, Huazhong University of Science and Technology; Institute of Precision Engineering, The Chinese University of Hong Kong) |
| Abstract: |
| Sliding mode control (SMC) has been widely investigated in recent years. In this paper, a class of secondorder SMC is proposed and used to achieve good tracking performance in servo systems. SMC has good robustness to the disturbances, but conventional SMC uses a sign function to drive the error on the sliding surface, which could generate chattering effect. In order to avoid this problem, our improved SMC uses the integral of the sign function. Coupled with an exponential reaching law, the new SMC can better suppress torque disturbances and chatter. This paper first gives the derivation of the new SMC. Simulation and experimental results are then carried out to demonstrate its tracking performance and robustness against torque disturbance and chatter. |
| Key words: Sliding mode control (SMC) Servo system Position tracking Disturbance suppression |
