Sliding mode control method (SMC), which is built on Variable structure control (VSC) theory, is a robust nonlinear control method creating insensibility against to modeling errors, external disturbing effects and parametric change of the system. In this paper, control of a DC Motor used in particularly robots and countless industrial applications is carried out by using SMC and analysis are also performed under load changes. It is desirable that motors operating under load in robotic applications must not be affected by changes depending on loading condition. In this paper, SMC Method is used against to this situation which is affected stability of system and performance of motor. Modeling of a DC motor, designing of its controller and overall analyses are performed by using actual data. When comparisons between proposed method and commonly used PID control are made in terms of performance analyses, it is seen that SMC method produces more successful results.
In this paper, the real-time position control of servo system is carried out using sliding mode control (SMC) method based on variable structure control (VSC). As DC Motors are commonly used in many industrial applications and robotics, studies in this paper have are tested on a DC servo system, which is designed and produced by Quanser Inc. Three different types of sliding mode controllers are designed for position control of servo system and, later, performance comparison of DC Motor on Servo system is made. According to results obtained from real-time servo system, it is shown that SMC method is robust against to disturbing effects, variabilities, and uncertainties on the systems. Outstanding part of this paper is that designed controllers are implemented to servo system in real-time with a variable loaded DC Motor. Moreover, this study shows that this control structure can be performed as high performance in the real-time motor control applications.
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