Back to Search
Start Over
A High-Speed and High-Precision Position Control Using Sliding Mode Compensator
- Source :
- IEEJ Transactions on Industry Applications. 128:1114-1120
- Publication Year :
- 2008
- Publisher :
- Institute of Electrical Engineers of Japan (IEE Japan), 2008.
-
Abstract
- To achieve high-speed and high-precision position control for semiconductor product machines and industrial robots, the full-closed feedback control is applied. Many control methods have been proposed for such a system. In general, P,PI/I-PI control which is one of PID control is applied to a lot of industrial applications. However, in case of changing mechanical characters of control target, the parameters of P,PI/I-PI control have to be changed for keeping a good motion performance. In this paper, we propose a new P,PI/I-P control method which is with nonlinear compensator. The algorithm of nonlinear compensator is based on sliding mode control with chattering compensation. The effectiveness of proposed control method is evaluated by using full-closed single axis slider system via point to point control and contour control in the case of changing load. From the experimental results, the proposed control method has robustness in the case of changing acceleration/deceleration of control reference, changing load and low velocity contouring motion.
- Subjects :
- Engineering
Variable structure control
Automatic control
business.industry
PID controller
Control engineering
Motion control
Sliding mode control
Industrial and Manufacturing Engineering
Control theory
Control system
Electrical and Electronic Engineering
Robust control
Lead–lag compensator
business
Subjects
Details
- ISSN :
- 13488163 and 09136339
- Volume :
- 128
- Database :
- OpenAIRE
- Journal :
- IEEJ Transactions on Industry Applications
- Accession number :
- edsair.doi...........5df287ce2d8b6fafd62acbad268bae80
- Full Text :
- https://doi.org/10.1541/ieejias.128.1114