Preprint Article Version 1 This version is not peer-reviewed

The Positioning of the Electromechanical System Using Sliding Mode Control without a Reaching Phase

Version 1 : Received: 18 February 2020 / Approved: 20 February 2020 / Online: 20 February 2020 (07:54:14 CET)

How to cite: Brock, S. The Positioning of the Electromechanical System Using Sliding Mode Control without a Reaching Phase. Preprints 2020, 2020020292 (doi: 10.20944/preprints202002.0292.v1). Brock, S. The Positioning of the Electromechanical System Using Sliding Mode Control without a Reaching Phase. Preprints 2020, 2020020292 (doi: 10.20944/preprints202002.0292.v1).

Abstract

Precise and fast position tracking is essential for the correct operation of many industrial robots and CNC machine tools. This subject is also important in the control of the mount of the astronomical telescope, especially for the tracking of artificial satellites. As system parameters can change, a control method that is robust to changes in parameters must be used. Such a method is the sliding control, which, however, ensures the robustness only after reaching the sliding surface. Therefore, a new method was proposed in the paper, which eliminates the phase of reaching the sliding surface. The method consists of using a reference trajectory generator and determining the generalized error in relation to this trajectory. The procedure for designing the control system is presented. Next, the proposed method was verified on the laboratory stand. The described control method provides a robust system operation and can be easily implemented in the control system.

Subject Areas

sliding mode control; position tracking; reference signal generator; telescope mount; motion control; electrical drive

Comments (0)

We encourage comments and feedback from a broad range of readers. See criteria for comments and our diversity statement.

Leave a public comment
Send a private comment to the author(s)
Views 0
Downloads 0
Comments 0
Metrics 0


×
Alerts
Notify me about updates to this article or when a peer-reviewed version is published.