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Yousef, A. (2011). EXPERIMENTAL SET UP VERIFICATION OF SERVO DC MOTOR POSITION CONTROL BASED ON INTEGRAL SLIDING MODE APPROACH. JES. Journal of Engineering Sciences, 39(No 5), 1095-1110. doi: 10.21608/jesaun.2011.129387
Ali Yousef. "EXPERIMENTAL SET UP VERIFICATION OF SERVO DC MOTOR POSITION CONTROL BASED ON INTEGRAL SLIDING MODE APPROACH". JES. Journal of Engineering Sciences, 39, No 5, 2011, 1095-1110. doi: 10.21608/jesaun.2011.129387
Yousef, A. (2011). 'EXPERIMENTAL SET UP VERIFICATION OF SERVO DC MOTOR POSITION CONTROL BASED ON INTEGRAL SLIDING MODE APPROACH', JES. Journal of Engineering Sciences, 39(No 5), pp. 1095-1110. doi: 10.21608/jesaun.2011.129387
Yousef, A. EXPERIMENTAL SET UP VERIFICATION OF SERVO DC MOTOR POSITION CONTROL BASED ON INTEGRAL SLIDING MODE APPROACH. JES. Journal of Engineering Sciences, 2011; 39(No 5): 1095-1110. doi: 10.21608/jesaun.2011.129387

EXPERIMENTAL SET UP VERIFICATION OF SERVO DC MOTOR POSITION CONTROL BASED ON INTEGRAL SLIDING MODE APPROACH

Article 11, Volume 39, No 5, September and October 2011, Page 1095-1110  XML PDF (454.39 K)
Document Type: Research Paper
DOI: 10.21608/jesaun.2011.129387
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Author
Ali Yousef
Electrical Engineering Department, Faculty of Engineering, Assiut University.
Abstract
In this paper, a novel controller based on the Integral Sliding Mode
Controller (ISMC) is proposed and designed for controlling DC motor in a
servo drive. The modeling and analysis of the servo DC motor are
obtained. To improve the controller performance in steady state (zero
error), the integral sliding mode controller (ISMC) is designed and
evaluated. Since the main drawback of SMC is a phenomenon, that called
chattering resulting from discontinuous controllers. An ISMC with
switched gains is used for chattering reduction and controller robustness.
For comparison, the proposed ISMC with switched gains is compared with
that of a PID controller. Experimental verification and simulations have
been carried out in order to validate the effectiveness of the proposed
scheme. The proposed controller offers very good tracking, also it is highly
robust and controlled plant reached very fast to the final position.
Furthermore the application of the SM ensures reduction of the system
order by one and quick recovery from matched disturbance in addition to
good tracking. Moreover, this scheme is robust against the parameters
variations.
Keywords
Servo DC motor; integral sliding mode control; PID controller
Main Subjects
Electrical Engineering, Computer Engineering and Electrical power and machines engineering.
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