Non-singular Fast Terminal Sliding Mode Position Control for DC Motor
A position control method based on non-singular fast terminal sliding mode and expansion observer was proposed for DC-motor position tracking control. The state space expression of DC-motor was established according to the armature voltage equation, electromagnetic torque equation and torque balance...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Harbin University of Science and Technology Publications
2019-08-01
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| Series: | Journal of Harbin University of Science and Technology |
| Subjects: | |
| Online Access: | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1703 |
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| Summary: | A position control method based on non-singular fast terminal sliding mode and expansion observer was proposed for DC-motor position tracking control. The state space expression of DC-motor was established according to the armature voltage equation, electromagnetic torque equation and torque balance equation. Based on the state space expression, expansion observer was proposed. The angular velocity and load torque disturbance of the motor were estimated according to the given position and actual position of the motor. The deviations were chosen as state variables. The state space expression of the DC motor was established by deviations. The dynamic sliding surface and algorithm output were designed by angular deviation and angular velocity deviation. The Lyapunov functions were defined respectively to prove the stability of the observer, sliding mode control algorithm and the entire control system. The algorithm was convenient for practical application because the hardware implementation was simple. Compared with PID, the effectiveness of the algorithm was proved by tracking sinusoidal, square and triangular wave signals. |
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| ISSN: | 1007-2683 |