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Sliding Mode Controller Design For Controlling The Speed of A DC Motor
Sliding Mode Controller Design For Controlling The Speed of A DC Motor
ABSTRACT: The objective of this paper is to fail, they do not provide the desired
control the speed of a DC motor efficiently output in desired time. For this reason, some
by using SMC. Model of a separately excited better approach has to be taken. In this paper,
DC motor has been choose. First PID SMC (Sliding Mode Controller) is that
controller is used for the speed con- trol of approach, a controller which has ability to
the motor (both linear and non-linear model) work satisfactorily under linear as well as
and then SMC is used for the same non-linear factors of the system.
non-linear model. The modeling and
simulation has been done in MATLAB. This paper has taken two types of non-linearities
that are present in a DC motor. One of them is
The observations shows that SMC gives friction that occurs in the motor itself and the
better results as compared to PID. While other non-linear factor is backlash. Backlash is
PID is not capable to give the desired result generated at the gear box which is driven by the
satisfactorily in case of non-linear systems, motor.
SMC has robust nature in presence of such
disturbances. When the motor is required at low speed level
KEY WORDS: Sliding mode controller, such as in chemical processing application in
chattering, non-linearity in dc motor, industries, the non-linear factors do affect the
modeling of dc motor. output of the system that can not be eliminated
I. INTRODUCTION by the conventional control- lers in real time.
DC motors have been widely used in industrial, SMC is designed for avoiding such un-
agricultural and domestic sectors with various certainties. It has many advantages over PID
applica- tions. Different fields require different controller. Some of them are robustness,
speed ranges of the motors with different
ranges of load changes. Usual- ly where a disturbance rejection and independent of he
higher speed of dc motor is required, the non system parameters. The results shown in the
– linear factors of the motor are neglected since
these factors do not affect much. Also, in such paper proves that SMC is much better than PID
cases, conven- tional controllers such as PI for the speed control of a DC motor
(Proportional-Integral) con-troller and PID especially when the non-linear model of the
(Proportional-Integral-Derivative) con- troller
are effective. motor is considered
When we come across non-linear systems
the above controllers are likely to II. SLIDING MODE CONTROL (SMC)
Sliding mode controller works by switching the
trajectory of the system from one structure to
other and in between sliding on a specific line,
plane or surface in state space. The motion of
the system trajectory along a chosen path in
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INTERNATIONAL JOURNAL OF ADVANCED COMPUTING AND ELECTRONICS TECHNOLOGY(IJACET)
state space is called the sliding mode and the d(s2)/dt < - ɳ|s| -6
controller designed with the aim to achieve the
slid- ing motion is called sliding mode When the state trajectory changes its
controller. The path such chosen is called the structure from one path to other ie; as it is on the
sliding surface or switching surface. verge to slide on the sliding surface, due to the
stronger condition been applied to it, the
While choosing the sliding surface, there are transition from one structure of the path to the
some requirements that has to be taken care of. other is not smooth. In fact it forms a zig
-zag path along the sliding surface. This
The system stability has to be confined to the happens due to the practical limitations of the
sliding (switching) surface. Also, the system devices used for the
measurements. Such an undesirable
trajectory should converge to the sliding surface phenomenon is known as chattering.
within finite time
REQUIREMENT I. Chattering occurs due to the presence of
System stability: Consider the following system the sig- num function used in the controller.
Hence, to avoid or reduce chattering, signum
dynamics function has to be replaced by some smoother
ẋ1 = A11 x1 + A12 x2 -1 functions may be tangent function or saturation
ẋ2 = A21 x1 + A22 x2 + Bu -2 -2function.
- 1 ẋ2 =Many
A21 xtypes of functions
1 + A22 x2 + Bu -2have been
used in different papers for reducing the
Let the sliding function chattering ear- lier and many are still working
chosen be : on it.
s = Cx1 + x2 = 0 -3 -3III. DC MOTOR ( LINEAR MODEL)
Equation 1 can be DC motors have a wide area of application in
rewritten as: all sorts of sectors, be it industrial, agricultural
ẋ1 = A11 x1 - A12 Cx1 = (A11 - A12C)x1 -4 or domes‐ tic. Moreover, they have been used
-4in scientific re‐ search and technology works
Taking C > 0 such that the solution of equation 4 too. The electric circuit of the DC motor is
lies to the left hand side of the phase plane, the shown in Fig. 1. Objective here will be
dynam- ics of x1 can be made stable at the sliding controlling the speed of the motor through
surface. From equation 3 the dynamics of x2 arma‐ ture voltage.
already becomes stable at the sliding surface.
Thus this sliding surface validates the first
requirement.
REQUIREMENT II.
Convergence to s = 0 : For this requirement to
be ful- filled, the reachability condition has to
satisfied which states that in order to make sure
that sliding mode starts at some time t > 0,
irrespective of the initial state x(0), we should be
sure that the state trajectory is always moving
towards s = 0, for s ≠ 0.
d(s2)/dt < 0 -5 -5
Figure 1. Electric circuit of DC motor
As the state trajectory comes closer to the
sliding surface, the rate of convergence The parameters shown in figure 1. are given
becomes slow. So along with reachability
condition, there is one more condition called ɳ below: Va : armature voltage (input to the
condition that ensures the conver- gence of the
trajectory towards s = 0 within finite time as the motor)
trajectory approaches towards the same. For the Ra : armature resistance
example taken above, its ɳ condition can be La : armature inductance
written as: Eb : back emf
ω : angular velocity (output of the motor)
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INTERNATIONAL JOURNAL OF ADVANCED COMPUTING AND ELECTRONICS TECHNOLOGY(IJACET)
if : field current
J : moment of inertia
b : constant of moment of inertia
T : torque produced
The equations that govern the working of Two non-linearities considered in this paper
the motor are written as: are friction and backlash. Friction has three
com- ponents namely static friction,
Torque in terms of shaft parameters: coulomb friction and viscous friction.
Whenever two surfaces are in contact they are
T = J(dω/dt) + Bω -7 -7having some static friction which one surface
has to overcome so as to move. Static friction
Torque produced by armature current: is also called stiction. As the surface of one
object starts to move it glides over the other
T = Kt ia -8 -8object with some velocity and in a direction.
Op- posite to this velocity and direction,
Now applying KVL in the circuit shown in coulomb force is always present which is
fig- ure 1., we get: independent of the mag- nitude of the
velocity. It depends on the nature (properties)
Va - Eb = Raia + La(dia/dt) -9 of the two surfaces in contact. The static
friction is greater than the coulomb friction.
(dia/dt) = Va /La - Eb /La - (Ra/La) ia -10 The friction proportional to the velocity is
viscous friction. It has the same direction as
Where , Eb = Kb ω -11
that of the moving object ie; the velocity.
And ,(dω/dt) = - (b/J )ω + (Kt/J) ia Below is a figure describing the relationship
-12
between the three com- ponents of the friction
With ω and ia as state variables, Va as the and the velocity.
input, the state model of the motor can be
represented by equations 10 and 12. Finally
by putting the values in equations 11 and 12,
the system model becomes:
(dω/dt) = - ω + 47.9041916 ia -13
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INTERNATIONAL JOURNAL OF ADVANCED COMPUTING AND ELECTRONICS TECHNOLOGY(IJACET)
ẋ1 = x2 -15
ẋ2 = - 51.39 x1 - 51 x2 + 3992.015 u - 16 y = x1
-17
s = Ce + x2 = 0 -18
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