Abstract
For application of a single-sided linear induction motor (LIM) to an automatic picking system (APS), this paper presents a DSP-based robust position controller design using an integral sliding mode control (SMC) scheme. To operate a movable ejector in the APS with high precision and high dynamics, a high performance linear motor drive system is required. The force disturbance as well as the mechanical parameter variations such as the mass and friction coefficient influence directly on the position control performance of APS. To guarantee a robust control performance in the presence of such uncertainty, an integral SMC-based position controller is considered. A Simulink library is developed for the LIM dynamic model. The entire system is realized using DSP TMS320F28335 based controller for performance comparison. Using the comparative simulations based on Matlab – Simulink and experiments, the effectiveness of the proposed scheme is verified. As a result, the proposed scheme has a robust control nature and is most suitable for an implementation of the APS.
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