The hybrid sliding mode controller design for linear motor friction compensation

• Main Authors: Tsung -Han Ching, 秦宗漢
• Other Authors: 陳金聖
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/u8e882

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 95 === This paper proposes hybrid sliding mode controller, which can control linear motor friction compensation. At first, friction model is based on LuGre model to identify the five parameters of inertia and friction of system platform. It can be identified by experiments. The result of experiments has features of fast convergence and high accuracy. LuGre friction model can be applied to compensate the friction of system platform. Friction observation contains features of uncertainty. The system platform is affected by parameter variety and uncertainty. Therefore, a hybrid sliding mode controller combines global sliding mode controller and integral sliding mode controller. Global sliding mode controller can make sure that the system’s responses are controlled in the sliding layer that can eliminate unreasonably extreme fast change as sliding mode controller usually does. Integral sliding mode controller can modify steady system errors. Therefore, hybrid sliding mode controller has an effect on parameter variables and friction compensation to some extent. At last, the simulated and experimented results prove that the friction compensation and steady error of both areas can certainly be improved by the system.