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Title:
SMC with disturbance observer for a linear belt drive
Authors:
ID
Hace, Aleš
(
Author
)
ID
Jezernik, Karel
(
Author
)
ID
Šabanović, Asif
(
Author
)
Files:
http://ieeexplore.ieee.org/iel5/10236/32655/01529178.pdf
Language:
English
Work type:
Unknown
Typology:
1.01 - Original Scientific Article
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
Accurate position tracking control of a linear belt-driven servomechanism can cause vibrations in the drive response due to compliance and elasticity introduced by force transmission through the belt. This paper proposes a new control algorithm that has been designed by Sliding Mode Control theory. Though it has been proved to assure robust and vibration-free operation, position error peaks still appear at velocity reversals due to nonlinear friction phenomenon. Thus, the control scheme has been extended by asymptotic disturbance observer. The experiments presented in the paper show improved position tracking error response while maintaining vibration suppression.
Keywords:
motion control
,
disturbance observer
,
sliding mode control
,
timing-belt drive
,
vibration suppression
Year of publishing:
2007
PID:
20.500.12556/DKUM-26021
UDC:
681.513:621.313
ISSN on article:
0278-0046
COBISS.SI-ID:
11893526
NUK URN:
URN:SI:UM:DK:50O00F4Q
Publication date in DKUM:
31.05.2012
Views:
2431
Downloads:
113
Metadata:
Categories:
Misc.
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Record is a part of a journal
Title:
IEEE transactions on industrial electronics
Shortened title:
IEEE trans. ind. electron.
Publisher:
Institute of Electrical and Electronics Engineers
ISSN:
0278-0046
COBISS.SI-ID:
8726789
Secondary language
Language:
English
Keywords:
opazovalniki
,
SMC
,
kontrolni sistemi
,
opazovalnik motenj
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