DSP BASED INTEGRAL VARIABLE-STRUCTURE CONTROL FOR DC MOTOR SERVO DRIVERS

被引:28
作者
CHERN, TL
WONG, JS
机构
[1] Natl Sun Yat-Sen Univ, Kaohsiung
来源
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS | 1995年 / 142卷 / 05期
关键词
DC MOTOR SERVO DRIVER; MICROPROCESSOR; SLIDING MOTION;
D O I
10.1049/ip-cta:19952087
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The design and implementation of a DSP microprocessor based DC motor servo driver are presented. The integral variable structure control (IVSC) approach is proposed for the outer loop of the driven system. Conditions are derived which ensure the existence of a nonideal sliding motion for the IVSC approach and also prove that the described motion in the nonideal sliding region will be close to the ideal sliding motion. Simulation and experimental results show that the proposed scheme can achieve an accurate velocity/position servo tracking result and is robust to plant parameter variations and external load disturbance.
引用
收藏
页码:444 / 450
页数:7
相关论文
共 8 条
[1]   VARIABLE STRUCTURE MODEL-REFERENCE ADAPTIVE-CONTROL SYSTEMS [J].
AMBROSINO, G ;
CELENTANO, G ;
GAROFALO, F .
INTERNATIONAL JOURNAL OF CONTROL, 1984, 39 (06) :1339-1349
[2]   CURRENT CONTROL OF VSI-PWM INVERTERS [J].
BROD, DM ;
NOVOTNY, DW .
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, 1985, 21 (03) :562-570
[3]   DESIGN OF BRUSHLESS DC POSITION SERVO SYSTEMS USING INTEGRAL VARIABLE STRUCTURE APPROACH [J].
CHERN, TL ;
WU, YC .
IEE PROCEEDINGS-B ELECTRIC POWER APPLICATIONS, 1993, 140 (01) :27-34
[4]   INTEGRAL VARIABLE STRUCTURE CONTROL APPROACH FOR ROBOT MANIPULATORS [J].
CHERN, TL ;
WU, YC .
IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS, 1992, 139 (02) :161-166
[5]   DESIGN OF INTEGRAL VARIABLE STRUCTURE CONTROLLER AND APPLICATION TO ELECTROHYDRAULIC VELOCITY SERVOSYSTEMS [J].
CHERN, TL ;
WU, YC .
IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS, 1991, 138 (05) :439-444
[6]  
ITKINS U, 1976, CONTROL SYSTEMS VARI
[7]  
Utkin V. I., 1978, SLIDING MODES THEIR
[8]   VARIABLE STRUCTURE SYSTEMS WITH SLIDING MODES [J].
UTKIN, VI .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1977, 22 (02) :212-222