Abstract
In this paper, the real-time position control of servo system is carried out using sliding mode control (SMC) method based on variable structure control (VSC). As DC Motors are commonly used in many industrial applications and robotics, studies in this paper have are tested on a DC servo system, which is designed and produced by Quanser Inc. Three different types of sliding mode controllers are designed for position control of servo system and, later, performance comparison of DC Motor on Servo system is made. According to results obtained from real-time servo system, it is shown that SMC method is robust against to disturbing effects, variabilities, and uncertainties on the systems. Outstanding part of this paper is that designed controllers are implemented to servo system in real-time with a variable loaded DC Motor. Moreover, this study shows that this control structure can be performed as high performance in the real-time motor control applications.
Highlights
DC Motors are widely used in angular position control applications, which are often encountered in industry
In this study, three different type sliding mode controllers are designed for position control of DC servo system, which is an extremely important issue in the control systems
Performance of controllers are compared after implementing designed controllers to DC servo system under different load conditions
Summary
DC Motors are widely used in angular position control applications, which are often encountered in industry They have certain characteristics, such as high efficiency, successful performance, and easy controllability. PID controllers can be designed they have several disadvantages about the robustness against system uncertainties and external disturbing effects They cannot be produced to get successful results in nonlinear control applications [4]. Sliding mode control (SMC) method is one of nonlinear control techniques and has some attractive characteristics, such as quickly response, a good transient response, successful adaptation to disturbing effect, and insensibility to change of system parameters [6], [13]. Position control of a servo system is carried out in real-time by using various types of SMC as a robust control method.
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