Abstract
In the paper robust control of speed and position of servo drives is analysed. A modified approach to the design of a robust speed and position controller is proposed, in which the trajectory of motion is invariant to load torque and system parameter variations. The proposed controller structure consists of a reference trajectory generator and a sliding mode controller with output integrator, operating with the reference model. Simple structure of reference signal generator is based on discrete model of an ideal drive system with cascade control. The obtained experimental results verify the proposed method and prove good quality of control.
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Brock, S. (2015). Robust Integral Sliding Mode Tracking Control of a Servo Drives with Reference Trajectory Generator. In: Gołębiowski, L., Mazur, D. (eds) Analysis and Simulation of Electrical and Computer Systems. Lecture Notes in Electrical Engineering, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-319-11248-0_23
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DOI: https://doi.org/10.1007/978-3-319-11248-0_23
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