직류 서보 전동기의 가변구조 위치제어 = Variable Structure Position Control for a DC Servo Motor

다국어 초록 (Multilingual Abstract)

Position control is a classical problem with various industrial application. Proportion-integral-derivative(PID) feedback control is perhaps the most common control design used by industry. But PID control is difficult to gain low overshoot, and also it is hard to compensate nonlinearity such as backlash. So, variable structure system(VSS) is one of the useful theories to constrain overshoot, and rise time.
The VSS system transforms its structure by switching. Then, the state trajectory slide along the switching line to the phase-plane origin. The phase trajectory is known as the sliding mode. The main feature of VSS is that it has the so-called sliding mode on the switching surface. Within the sliding mode, the system remains insensitive to parameter variations and disturbances and its trajectories lie in the switching surface.
In this paper, the position control of a DC servo motor in the sliding mode was performed, proposed the algorithm of variable structure control and analysed the insensitivity of the system with parameter variations and disturbance in the sliding mode.
Experimental results indicated that VSS controller constrained overshoot and rise time of the system response.