Study On Sliding Mode Control With Reaching Law For DC Motor
Study On Sliding Mode Control With Reaching Law For DC Motor
Study On Sliding Mode Control With Reaching Law For DC Motor
The DC motor is a key element for servo system, and the control quality of control system
would be seriously affected by the nonlinear, the parameter uncertain, the inaccurately
modeling and some uncertain existing in servo system. So it is very difficult to satisfy control
requirements by using the traditional control method. In this paper, the sliding mode control
algorithm with reaching law is proposed. By using the reaching law to weaken the chattering
phenomenon existed in the SMC, also by using the SMC method can enhance the antiinterference ability of the servo system. In order to test and verify the effectiveness of the
proposed SMC with reaching law for the DC motor, the designed controller was dynamically
simulated by using the MATLAB. It is shown from the simulation results that the proposed
controller offers several advantages such as good chattering inhibition capability, fast
response, good disturbance rejection capability, good position tracking capability and so
forth. It is also revealed that the proposed control strategy is valid for the DC servo system
from simulation results. The results also provide the certain theoretical basis and application
value for engineering practice.
Keywords: DC Motor, Sliding Mode Control, Reaching Law, Chattering
1. Introduction
DC motor is an important executive element in mechatronics system because of its small
size, light weight, good servo performance, fast response and good stability. These
advantages make it widely used in servo systems, factory automation, defense industry,
household appliances and instruments field. However, with the rapid development of
electronic control and microelectronics technology, the dynamic controlling quality for the
DC motor require more higher than before [1, 2].
Recently, sliding mode control has been used in electro-hydraulic servo control widely [3],
due to its simple algorithm, good robustness against parameter uncertainties and external
disturbance, high reliability, fast response, and so on. However, the chattering phenomenon
existed in the Sliding Mode Control (SMC), which was caused by the time lag switch, spatial
lag switch, inertia, uncertainties and other factors, has seriously impacted the application of
the Sliding Mode Control [4].
Due to the chattering phenomenon, the high-frequency unmodeled in the system would be
excited easily, and the effectiveness of the system also would be affected. In order to reduce
the chattering phenomenon in the SMC, some ways have been proposed such as the quasisliding mode control, Sliding mode control with reaching law, Fuzzy sliding mode control,
Dynamic sliding mode control, Adaptive sliding mode control, Integral sliding mode control,
etc. [5-7].
In this paper, a sliding mode control with improved reaching law is proposed to reduce the
chattering. The sliding mode controller with an improved reaching law has been designed,
and it is applied in a DC motor servo system.
The remainder of the paper is organized as follows. The mathematical model of the DC
motor is established in the Section 2. In Section 3, the SMC controller with an improved
reaching law is discussed and designed. In Section 4, we make numerical simulations made
for the DC motor transmission system using the proposed control method. Conclusions are
drawn in Section 5.
2. Mathematical Model
In the modern industry, DC motor is widely used as the Executive Termination of the servo
system. Based on the working principle of magnetic brushless DC motor, the mathematical
model is established in this paper [6]. The DC motors equivalent circuit is shown in Figure
1.
U a Ea Ra I a CE n I a Ra K E n Ra I a
(1)
ua K E n Raia La
dia
dt
(2)
In the above equations Ra is the resistance of loop, I a is the current, Ea is the induction
electromotive force, U a is the voltage of the circuit, C E is the electromotive force constant,
n is the speed of motor, K E is the electromotive force which is produced by unit speed.
Te Bn TL J
dn
CE ia KT ia
dt
(3)
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Assuming that the initial condition is zero and the motor load is fixed. After the above
equations being transformed via using the Laplace way, the transfer function of DC motor can
be expressed:
G( s)
n( s )
KT
2
U ( s ) La Js Ra J La B s Ra B KT K E
(4)
s signs
(5)
s signs qs
0; q 0
(6)
1 0; q 0
(7)
s q | s | sgn s
General reaching law
s signs f (s)
(8)
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S (k 1) S (k ) T X 1 sgn(S (k ))
Where X
(9)
-- 1 norm of x .
Reaching speed of the variable rate reaching law is X , which is proportional to the
1
. The switching zone gets through the origin with two rays, in the middle of the two rays
the S = 0 can be get by it, it can be stabilized at the origin. However, X will get a large
value and the SMC has a big chattering after the system entered to switching zone. In order to
overcome the problem of the variable rate reaching law and exponential approach law, we
have proposed a novel reaching law, which is expressed as follows:
1
1 e
1 e
(10)
.
1
(11)
(12)
s(k 1)
s(k )
p 1 qT
,
T
s (k )
1.0
(13)
Aim at the (12), we can discuss according to the following three conditions:
Conditions ONE:
s(k )
T
2 qT
p 1 qT
, then
T (2 qT )
T
p 1
So p 1 , s(k 1) s(k ) , s(k ) is decreasing.
Conditions TWO:
s(k )
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T
2 qT
, then
p 1 qT
T (2 qT )
T
p 1
So p 1 , s(k 1) s(k ) , s(k ) is increasing.
Conditions THREE:
s(k )
2 qT
p 1 qT
, then
T (2 qT )
1
T
s(k )
(14)
2 qT
T
2 qT
. Once the s ( k )
T
2 qT
is met, the system entered the oscillation state. For the any initial value s(0) 0 .
when k , s(k )
T
2 qT
, and s( k )
T
2 qT
T
2 qT
(15)
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T
s(k )
T
2 qT
1
(2 Tq) s(k )
T
(16)
Select
s( k ) / 2
(17)
4
1 2q
(18)
s( k )
T sgn( s(k ))
2
(19)
s(k )
T sgn( s(k ))]
2
(20)
V (k )
1
S (k )2
2
(21)
Then:
1
S (k 1) 2
2
1
V (k 1) V (k ) [ S (k 1) 2 S (k ) 2 ]
2
1
[ S (k 1) S (k )][ S (k 1) S ( k )]
2
V (k 1)
316
(22)
(23)
s(k )
T sgn( s(k ))]sgn( s(k ))
2
(q 0.5)T s(k ) 0
s(k )
T sgn( s(k ))]sgn( s(k ))
2
(2 0.5T qT ) s(k ) 0
(24)
(25)
1
V (k 1) V (k ) [ S (k 1) 2 S (k ) 2 ]
2
1
{[ S (k 1) S (k )]sgn( s(k ))}{[ S (k 1) S (k )]sgn( s(k ))}
2
(26)
V (k 1) V (k ) 0
V (k 1) V (k )
(27)
(28)
From the equation (27), we can get that the proposed sliding reaching law meets the
existence and reaching of discrete sliding mode, and the designed control system is stable.
4. Simulation
In this section, sliding mode control with reaching law is made simulation for DC motor by
using the MATLAB [17]. The transfer function of the DC motor is:
G( s)
103
s 15s
2
(29)
The simplified discrete equation is given as following:
(30)
1.0 0.001
0.000825
, B
.
0.0 0.97
0.256470
Where A
Where the sampling time is 1ms, the ideal position is selected as x(k ) sin(t ) , the
interference signal is selected as d (k ) 1.5sin(t ) . The parameter of controller is selected as
c 10 , 15 , q 30 . The steady-state oscillation amplitude of the sliding mode motion is
T
2 qT
0.0076 .
Simulation results are shown in the Figure 2 to Figure 7. These simulation results
demonstrate that SMC control principle with reaching law has better tracking performance
comparing the SMC control principle without reaching law. The Figure 2-Figure 3 shows that
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the DC motor has better position tracking performance. The Figure 4-Figuare 5 shows that the
DC motor has better speed tracking performance.
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319
5. Conclusion
In the work reported here, we investigated the suitability of variable structure methods for
the DC motor systems. Aim at the high order, nonlinear, parameter uncertain system, the
inaccurately modeling and some uncertain existing in the DC motor, which seriously affected
the control quality of control system. So it is very difficult to gain good performance with
traditional control method.
The sliding mode control algorithm with an improved reaching law was proposed in this
paper. The improved reaching law was used to weaken the chattering phenomenon existed in
the sliding mode control. And which make the servo system have strong ability of antiinterference and the ability of weakening the chattering problem existed in the sliding mode
control. The designed controller was dynamically simulated by using the MATLAB. The
results shown that the ability of anti-interference and the ability of weakening are enhanced
by using the proposed sliding mode control algorithm with an improved reaching law, and the
method makes the system stability and control quality been further improved. The results also
provide the certain theoretical basis and application value for engineering practice.
Compared with the general sliding mode control scheme, the main advantages of the
adopted nonlinear control design approach applied to the DC motor system are as follows:
(1) It has a good performance on velocity tracking, and the proposed control strategy is
valid for the DC motor System.
(2) The external disturbance and parameter perturbation of the DC motor system were
predicted and compensated effectively.
(3) The problem of chattering was inhibited obviously and the ability of anti-interference
and anti-parameters perturbation, stability and control quality of the system was improved.
Acknowledgements
This work is funded by the Scientific Research Projects of Xianyang Normal University
(No.11XSYK329).
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Authors
Hong Li
She received the Master degree in computer applications technology
(2006) from Northwest University for Nationalities. Now she is a lecturer
at School of Information Engineering, Xianyang Normal University. She
is current research interests include different aspects of control
engineering, Image processing and Artificial Intelligence.
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