Sliding mode controller for direct drive with dry friction

被引：0

作者：

Brock, Stefan ^{[1
]}

机构：

[1] Poznan Tech Univ, Inst Control & Informat Engn, PL-60965 Poznan, Poland

来源：

PRZEGLAD ELEKTROTECHNICZNY | 2009年 / 85卷 / 07期

关键词：

direct drive; sliding mode controller; friction;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper describes a control system for a direct drive with permanent magnet synchronous motor based on a sliding mode controller and PI equivalent disturbance estimator. The double boundary layer is used to compensate the effect of stiction. The friction model is Coulomb friction with a large static friction effect. Experimental results show that the control approach can decrease the tracking error, enhance the system's robustness and attenuate high frequency chattering in the control signal.

引用

页码：125 / 129

页数：5