Design of Linear DC Motor Two-degree-of-freedom Positioning System using Model Reference type Sliding Mode Controller

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  • モデル規範形SMCを用いたリニアDCモータ2自由度位置決めシステム設計法
  • モデル キハンガタ SMC オ モチイタ リニア DC モータ 2ジユウド イチギメ システム セッケイホウ

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One of fundamental problems in the factory automation is how to obtain linear motion. Linear motors produce directly the linear motion force without a motion-transform mechanism. Linear d.c. motors (LDMs) have excellent performance and controllability. However, the dynamics of small-sized LDMs is adversely affected by the dead-band due to the friction between brushes and commutators.<br>In this paper, it is described that the design of the two-degree-of-freedom positioning system with a LDM using model reference type sliding mode controller (SMC). The proposed positioning system consists of a fixed gain feedforward controller and a SMC used as a feedback controller. The objective of the SMC is to repress the influence of nonlinear characteristics (the dead-band and parameter variations etc.). The tracking performance can be improved as the fixed gain feedforward controller makes a dynamic inverse system in the feedforward path. The effectiveness of the proposed system for improvement of the tracking performance is demonstrated by experimental results.

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