Abstract
Problem statement: In this study, a combination of a classical Sliding Mode Control (SMC) and a PID tuning technique with low-pass filter is developed for a position tracking control of a DC servo motor. Approach: The DC servo motor will be used to adjust the throttle angle of the gasoline engine in our laboratory. To control the engine speed to be accurate, the servo motor position has to be controlled precisely. Results: Uncertainty and nonlinearity of the servo motor system can be surmounted by the sliding mode control while the system response can be fine adjusted via the PID gain tuning. A low-pass filter has been incorporated also in order to eliminate and limit amplification of noise due to differentiation in the PID algorithm. The stability of the control system is guaranteed by the Lyapunov stability theorem. The experimental results shown that, the proposed technique has good tracking performance compares to a PIDSMC and a conventional PID technique even without actuator model. Conclusion/Recommendations: However, the performance strongly depends on the specified control gain in PID portion and sliding function. Therefore, any self tuning control gain techniques should be developed further.
Highlights
DC servo motors have been widely used as an actuator for motion control and direct-drive applications
It has been found that the performance of PIDSMC is better than conventional PID technique
That the performance of the PIDSMC with an adopted low-pass filter is better than the conventional PID and the PIDSMC techniques
Summary
DC servo motors have been widely used as an actuator for motion control and direct-drive applications. From Eq 16, since the assumptions Ι-ΙV are satisfied and available global state vector x ∈ Rm has no disturbances, the asymptotic stability of the error response along sliding surface from the control law in Eq 16 can be guarantee as long as Vɺ ≤ 0. In this case, when ||sTksat(Y)|| ≥ || CBη – (uDL+uIL+uPL) || the continuous term ksat(Y) has been selected commonly as in SMC problems to avoid chattering of the control force and to achieve stability. The desired response depends on the selection of the constants KP, KI, KD and k which have to be suitable from experimental adjustment
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