Speed Control of a DC Motor with Variable Load Using Sliding Mode Control

Abstract

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.

Sliding mode control of a servo system in LabVIEW: Comparing different control methods

“…where d is a small positive constant called a tuning parameter to reduce the chattering [14]. The choice of d is a crucial consideration because if it is too small, the chattering may still be present, but if it is too large, reaching the reference value may cause a problem to the controller [15]. Figure 1 shows the MathScript implementation of the sliding mode controller as a LabVIEW MathScript Node with inputs on the left side and the controller output on the right side of the frame.…”

Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning

“…They applied fuzzy logic for steering control and with the suitable incorporation of a braking controller, the stability of the vehicle is guaranteed. Dursun and Durdu [ 7 ] have presented a method for the speed control of a DC motor utilized in robots and countless industrial applications based on sliding mode control and analysis under load changes. Shijin and Udayakumar [ 8 ] have introduced a PID controller to adjust the speed of wheeled mobile robots using dynamic and kinematic modeling.…”

DC Motorun Hız Kontrolü İçin Meta-Sezgisel Algoritma Tabanlı PID Denetleyici Tasarımı

“…Araştırmacılar DC motor hız kontrolünde daha iyi bir sistem cevabı elde etmek için birçok kontrol yöntemi önermiştir. Oransal-integral-türevsel (PID) denetleyici [1][2][3][4], kesir dereceli oransal-integral-türevsel (FOPID) denetleyici [3][4][5][6][7][8], bulanık (Fuzzy) denetleyici [9], bulanık-oransal-integral-türevsel (Fuzzy-PID) denetleyici [10], adaptif ağ tabanlı bulanık çıkarım sistemi (ANFIS) [11], kayan kipli denetleyici (SMC) [12] önerilen kontrol yöntemlerinden bazılarıdır.…”