Dynamical Integral Sliding Mode Control for Permanent Magnet Ring Torque Motor

Abstract

In view of the characteristics of numerical control turntable servo system directly driven by permanent magnet ring torque motor, which is susceptible to load disturbance and parameter variation, a dynamic-integral sliding mode position controller is designed. Dynamic sliding mode control means making differential operation to switching function of conventional sliding mode control, thus, a new switching function can be obtained. The discontinuous terms are transferred to first or higher derivative of control quantity. Therefore, the dynamic sliding mode control law is continuous timely, and then the chattering can be effectively reduced. Meanwhile, in order to ensure the steady-state accuracy of system, the integral term is introduced in the switching function to realize dynamic integral sliding mode control. The simulation results indicate that dynamic-integral sliding mode control of permanent magnet ring torque motor has favorable dynamic response and strong robustness, and it is effective to weaken the chattering.

Complementary Sliding Mode Control via Elman Neural Network for Permanent Magnet Linear Servo System

“…In [16], [17], integral sliding mode control (ISMC) is used to guarantee the global robustness of the control system, though the chattering is weakened by this method efficiently, the system instability will be caused by ISMC when the system state deviates from the reference trajectories. In [18], [19], a fuzzy sliding mode control (FSMC) method is proposed to reduce the chattering, but when the lumped uncertainty of the nonlinear system is excessive, the method to improve the tracking performance of the system will be out of effect.…”