Sliding mode control method

Details Sliding mode control method Sliding mode control method

G - Physics

05

D

341/107

G05D 3/12 (2006.01) G05B 13/02 (2006.01) G05B 13/04 (2006.01) G05B 19/19 (2006.01)

Patent

CA 2032525

A B S T R A C T A sliding mode control method capable of reducing a steady-state deviation from a control target and making a control system adapted for system parameter variations, thereby improving control stability. By a processor of a digital servo circuit of a servo control system, a position deviation (.epsilon.), speed deviation (?), value of a switching plane (s), and value of an integral element ( ?(? + C?.epsilon.)) of the switching plane are calculated based on a command position (.theta.r) and an actual position (.theta.) (100 to 102, 107, 113), and first and second terms of a switching amount (T1) are calculated in accordance with calculation formulae selected depending on whether the corresponding values of the switching plane, position deviation, and integral element are positive or negative (103 to 115). Based on the calculated value of the switching amount (T1) which is equivalent to the sum of the first and second terms and fulfills the Liapunov stability condition, a torque command (T) permitting the control system characteristic to be converged on the switching plane (s = 0) is calculated, whereby the control system stability is not ruined even if the system parameters are varied.

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