The Realization of Robust Servo Motor Control Systems

• Main Authors: R. K. Lin, 林瑞寬
• Other Authors: Y. J. Haung
• Format: Others
• Language: en_US
• Online Access: http://ndltd.ncl.edu.tw/handle/23808899637341095117

碩士 === 元智大學 === 實業計劃研究所工學組 === 82 === In the thesis, the servo control systems (brushless dc se- rvo motor and dc servo motor) with sliding mode control are pre- sented. We design and implement speed and position control of the brushless dc servo motor, and position control of dc servo motor. Consider that brushless dc servo motors do not contain mechanical commutation device, and therefore have several adva- ntages: lower cost and weight, greater efficiency, reliability and obviation of maintenance requirement, but it requires a more complicated driver. First we obtain the transfer function of servo motor system and select appropriate variable to find a state variable desc- ription which is suitable for the application of sliding mode control method. According to the selected feedback signals, we define the sliding variable, then a sliding mode control algor- ithm is designed to satisfy the condition which quarantees the sliding variable reaches and sustains on the sliding surface. In implementing the servo control system, though the syst- em parameters are not known exactly, we design a sliding mode controller with a reference nominal model. Experimental results show that the control system in the sliding mode achieves robus- tness against parameter variations and load disturbances.