Document Type : Research Paper
Authors
1 Control & System Eng. Dept., University of Technology - Iraq
2 Control & System Eng., Dept., University of Technology - Iraq
Abstract
The aim of this paper is to design and study a powerful second-order sliding mode controller for electrical servo drive systems. The suggested controller can successfully overcome the chattering problem that was usually facing such systems during operation. The first (1-SMC) and second (2-SMC) sliding mode controllers are nonlinear controllers’ techniques capable of stabilizing the output of a plant, even though a disturbance and parameter uncertainty is present. The asymptotically stable is the significant property of 1-SMC as well as 2-SMC. Despite the robustness of the 1- SMC, in real-time but it suffers from a large settling time and a chattering (undesirable rapid oscillations) of system trajectory close to the sliding surface. The chattering must be reduced because of its negative impact on system stability. The chattering can be reduced by replacing the sign function, used in classical sliding mode, by a saturation function. In the current study, the Second Order Sliding Mode Controller (2-SMC) is used to overcome the drawbacks of 1- SMC by reducing both the chattering and the settling time of the control action. The Electrical Servo drive system was adopted in this paper for testing; both, the 1-SMC as well as the 2-SMC. The comparison of results between the two controllers indicated smaller chattering and settling time in the 2-SMC than that in the 1-SMC. The simulation results of this work were obtained by using the Matlab programming.
Keywords
- Chattering
- first order sliding mode controller
- second order sliding mode controller
- asymptotically stable
- Electrical Servo drive
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