Positioning Control of a Flexible Slewing Structure by Applying Sliding Mode Control

2016 ◽  
Author(s):  
Frederic Conrad Janzen ◽  
Angelo Marcelo Tusset ◽  
Jose Manoel Balthazar
Keyword(s):  
Sliding Mode ◽  
Angular Position ◽  
Dc Motor ◽  
Flexible Beam ◽  
Vibration Modes ◽  
Structure Model ◽  
Sliding Modes ◽  
Flexible Link ◽  
Positioning Control ◽  
Motor Model

This work presents the angular positioning control of a flexible beam like structure connected to the shaft of a DC (Direct Current) motor. The coupling between the flexible structure and the DC motor is considered as not ideal being that the structure model considers three vibration modes. A non-linearity known as death zone is included in the DC motor model. To control the angular position a Sliding mode controller is proposed and the influence of the control gains is analyzed numerically. Numerical simulations will be presented to demonstrate the application of the sliding modes technic in order to control the positioning of the flexible link by controlling the DC motor armor current.

Angular Positioning and Vibration Control of a Slewing Flexible Control by Applying Smart Materials and Sliding Modes Control

2017 ◽  
Author(s):  
Frederic C. Janzen ◽  
Jose M. Balthazar ◽  
Angelo M. Tusset ◽  
Rodrigo T. Rocha ◽  
Jeferson Jose de Lima
Keyword(s):  
Vibration Control ◽  
Smart Materials ◽  
Position Control ◽  
Control Method ◽  
Angular Position ◽  
Dc Motor ◽  
Sliding Modes ◽  
Flexible Link ◽  
Positioning Control ◽  
Sma Actuators

Flexible links undergoing a slewing motion are widely found in aerospace structures such as satellites and robotic manipulators. In this kind of systems, the lighter the structure the better is its performance and more cost effective is the system. However, the positioning control of flexible structures is challenging because the flexibility may lead the system to vibrate in larger amplitudes, which makes the need of using actuators to control and reduce vibrations. An alternative for those actuators is the use of smart materials, as SMA (Shape Memory Alloys) to control vibrations of such structures. This work will present the angular positioning and vibration control of a flexible link. The angular position control is a torque driven by a DC motor controlled through a sliding modes control method. The system is considered as non-ideal, it means that the vibration of the flexible link accomplishes to the DC motor shaft. SMA actuators are coupled to the flexible link with the objective to reduce the vibration amplitudes and reducing so the settling time of the system. The SMA actuators are controlled through an electric voltage applied to its terminals by applying the Sliding modes control method. The dynamical equations of motion for the system are developed considering a dead zone nonlinearity of the DC motor and a phenomenological model for the SMA. The flexible link is modeled as a continuous structure and just the first vibration mode is analyzed. Numerical simulations results are presented to demonstrate the effectiveness of the sliding modes strategy for the positioning control of the DC motor and for the vibration suppression of the flexible link by using SMA actuators.

scholarly journals Experimental V alidating DC Motor Model s and I dentify Transfer Function

2021 ◽  
Vol 10 (4) ◽  
pp. 46-55
Author(s):  
Meshari J Al Jandal ◽  
◽  
Khaled S Al Rasheed ◽  
Muhammad R A A Jamal ◽  
◽  
...  
Keyword(s):  
Conceptual Knowledge ◽  
Angular Position ◽  
Essential Element ◽  
Dc Motor ◽  
Abnormal Behavior ◽  
Order Model ◽  
Test Analysis ◽  
Labview Software ◽  
Acquisition Device ◽  
Motor Model

DC Motor is an essential element for many applications in the field of automation, robotics, and many others. They are important for many engineers to understand its behaviours and characteristics. However, controlling any system is still a challenge because of their abnormal behavior. In this paper, we are applying techniques to understand the behavior of servo system. Several groups of researchers conducted experiments based on a standard first-order model of a DC Motor using first principles modeling to derive the parameters. However, not much highlighting is identified on how well these models match up the actual data. In this paper, a deeper understanding has been taken place to gain some familiarity in testing and measurements by exploring a special arrangement in a laboratory called Quanser QUBE-Servo. In addition to this, signals monitoring on the live-mode has the advantage of gaining conceptual knowledge in the experimental test, analysis, and verification of the system. On the other hand, solving differential equations numerically using powerful software such as LabVIEW which endorses the comprehension of the system operation. In general, this report discusses a simple technique to study the DC motor transient response, read the angular position of the encoder by interface data acquisition device used with LabVIEW software.

scholarly journals Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

10.5772/5798 ◽  
2005 ◽  
Vol 2 (2) ◽  
pp. 11 ◽  
Author(s):  
Victor Etxebarria ◽  
Arantza Sanz ◽  
Ibone Lizarraga
Keyword(s):  
Robust Control ◽  
Optimal Design ◽  
Closed Loop ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Robotic Arm ◽  
Sliding Modes ◽  
Flexible Link ◽  
Composite Approach ◽  
Control Scheme

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with well-established stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good closed loop tracking properties both for the rigid and the flexible dynamics.

A new reaching law for sliding mode observer of controllable excitation linear synchronous motor

2021 ◽  
pp. 014233122110320
Author(s):  
Xiaolei Shi ◽  
Yipeng Lan ◽  
Yunpeng Sun ◽  
Cheng Lei
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Angular Position ◽  
Lyapunov Stability Theory ◽  
Synchronous Motor ◽  
Position Estimation ◽  
Sliding Mode Observer ◽  
Sigmoid Function ◽  
Reaching Law ◽  
Linear Synchronous Motor

This paper presents a sliding mode observer (SMO) with new reaching law (NRL) for observing the real-time linear speed of a controllable excitation linear synchronous motor (CELSM). For the purpose of balancing the dilemma between the rapidity requirement of dynamic performance and the chattering reduction on sliding mode surface, the proposed SMO with NRL optimizes the reaching way of the conventional constant rate reaching law (CRRL) to the sliding mode surface by connecting the reaching process with system states and the sliding mode surface. The NRL is based on sigmoid function and power function, with proper options of exponential term and power term, the NRL is capable of eliminating the effect of chattering on accuracy of the angular position estimation and speed estimation. Compared with conventional CRRL, the SMO with NRL achieves suppressing the chattering phenomenon and tracking the transient process rapidly and accurately. The stability analysis is given to prove the convergence of the SMO through the Lyapunov stability theory. Simulation and experimental results show the effectiveness of the proposed NRL method.

scholarly journals A Nonlinear Magnetic Stabilization Control Design for an Externally Manipulated DC Motor: An Academic Low-Cost Experimental Platform

Machines ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 101
Author(s):  
Leonardo Acho
Keyword(s):  
Hall Effect ◽  
Position Control ◽  
Low Cost ◽  
Time Derivative ◽  
Control Design ◽  
Dc Motor ◽  
Flexible Beam ◽  
Experimental Platform ◽  
Hall Effect Sensor ◽  
Vibrational Control

The main objective of this paper is to present a position control design to a DC-motor, where the set-point is externally supplied. The controller is conceived by using vibrational control theory and implemented by just processing the time derivative of a Hall-effect sensor signal. Vibrational control is robust against model uncertainties. Hence, for control design, a simple mathematical model of a DC-Motor is invoked. Then, this controller is realized by utilizing analog electronics via operational amplifiers. In the experimental set-up, one extreme of a flexible beam attached to the motor shaft, and with a permanent magnet fixed on the other end, is constructed. Therefore, the control action consists of externally manipulating the flexible beam rotational position by driving a moveable Hall-effect sensor that is located facing the magnet. The experimental platform results in a low-priced device and is useful for teaching control and electronic topics. Experimental results are evidenced to support the main paper contribution.

scholarly journals Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Energies ◽  
2020 ◽  
Vol 13 (22) ◽  
pp. 6041
Author(s):  
Fredy A. Valenzuela ◽  
Reymundo Ramírez ◽  
Fermín Martínez ◽  
Onofre A. Morfín ◽  
Carlos E. Castañeda
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Dc Motor ◽  
Experimental Results ◽  
Resistive Load ◽  
Velocity Control ◽  
Velocity Sensor ◽  
Control Scheme ◽  
Mechanical Sensors ◽  
Twisting Algorithm

A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

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