This document discusses first order sliding mode control. It can reduce plant dynamics to a lower order and provides finite-time convergence. However, it suffers from chattering and is over-focused on matched uncertainties. The methodology section describes applying sliding mode control to compensate friction in a DC servo motor simulation. Constraints included a lack of domain knowledge and nonlinear plant dynamics. Potential applications are compensating motor nonlinearity in robotics and industry.
This document discusses first order sliding mode control. It can reduce plant dynamics to a lower order and provides finite-time convergence. However, it suffers from chattering and is over-focused on matched uncertainties. The methodology section describes applying sliding mode control to compensate friction in a DC servo motor simulation. Constraints included a lack of domain knowledge and nonlinear plant dynamics. Potential applications are compensating motor nonlinearity in robotics and industry.
This document discusses first order sliding mode control. It can reduce plant dynamics to a lower order and provides finite-time convergence. However, it suffers from chattering and is over-focused on matched uncertainties. The methodology section describes applying sliding mode control to compensate friction in a DC servo motor simulation. Constraints included a lack of domain knowledge and nonlinear plant dynamics. Potential applications are compensating motor nonlinearity in robotics and industry.
This document discusses first order sliding mode control. It can reduce plant dynamics to a lower order and provides finite-time convergence. However, it suffers from chattering and is over-focused on matched uncertainties. The methodology section describes applying sliding mode control to compensate friction in a DC servo motor simulation. Constraints included a lack of domain knowledge and nonlinear plant dynamics. Potential applications are compensating motor nonlinearity in robotics and industry.
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SLIDING MODE CONTROLLER
FIRST OREDER SLIDING MODE CONTROL
S X AX using switching property it gives S= 0
X AX REACHABILITY CONDITION
ss 0 ADVANTAGES OF SLIDING MODE CONTROL
1. Low sensitivity to plant parameter uncertainty
2. Greatly reduced-order modeling of plant dynamics 3. Finite-time convergence (due to discontinuous control law)
DISADVANTAGES OF SLIDING MODE CONTROL
1. Chattering due to implementation imperfections
2. Over-focus on matched uncertainties (i.e., uncertainties that enter into the control channel) SIMULATION RESULT METHODOLOGY A generalized signal flow graph is created for dc servo taking gearbox in consideration. Relations between all parameters in terms of equation are found from the graph. The matlab model to obtain response for uncompensated system is created. First order sliding mode controller to compensate friction is applied. Two programs named as friction_model and friction_model_modified to obtain the response of relative displacement is created, so that these values can be used by loading it in future programs. Some velocity data of the motor measured by encoder previously had been given. Having smoothened those data corresponding velocity is found. As input and output is known, so motor_tf in matlab is found. Step response of this motor_tf from velocity data is subtracted to obtain friction. The system as a nonlinear arx model and sliding motor control technique is applied. Finally friction compensated output is the result. CONSTRAINTS & LIMITATIONS As we did not have much previous knowledge about the subject of the project as it is related to mechatronics engineering, we had to spend a lot of time for studying the subject matters.
As a gearhead DC servomotor has a lot of nonlinear
uncertainty, we had to spend a lot of time for choosing the different parameters of the entire model.
After completing the modeling part, we tried to compensate
the friction nonlinearity of the servomotor using PID controller first but we did not get any justified output. So we used sliding mode controller to compensate the friction non-linearity. FUTURE EXTENSION
We have used sliding mode controller of first order only. Higher order extension of the compensator can be the future extension of this project.
Hardware model of the project has not been done yet. So it can also be thought of. APPLICATIONS
Gear head DC servomotor has various applications in robotics & other
industrial purpose and it is often desired that the nonlinearity of the motor must not exceed a certain level so that it gives the required performance. So the nonlinearity of the motor can be compensated by this method and in that case our project will be very much useful.
