Grinding Force Sliding Mode Control

• Main Authors: Wei Cheng Yan, 顏偉丞
• Other Authors: Yin Tien Wang
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/03249426217193666616

碩士 === 淡江大學 === 機械工程學系 === 90 === This paper presents a multivariable Sliding Mode Controller (SMC) for control of the grinding force. There are two stages of the research procedure. Firstly, derive the sliding function according to the system specifications including the settling time of step response and the damping ratio of system. Secondly, design the sliding mode controller basing on the sliding function which is stable and converges to zero. The developed system is utilized to control the grinding torque applied by the hand-grinder. Sliding mode control has the advantage of small rise time of step response. However there is steady-state error in step response. An integral sliding mode control is proposed to eliminate the steady-state error. In the grinding process, a software observer is utilized to measure the applied torque. The measured signal is suffered from noise with high amplitude and high frequency because of the resolution of position encoder. A grey predictor is developed to filter the noise using as few as four input-output data. The experiment shows that the proposed filter can reduce the noise amplitude.