The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Integral Sliding Mode Controller for Magnetically Suspended Balance Beam: Theory and Experimental Evaluation

자기력 부상 시스템인 평형빔의 Integral Sliding Mode 제어기 : 이론과 실험적 평가

  • 이준호 (철도청 전기국 신호제어과 과원) ;
  • 이정석 (광운대 대학원 제어계측공학과) ;
  • 박영수 (철도청 전기국 신호제어과 과원) ;
  • 이재훈 (철도청 전기국 신호제어과 과원) ;
  • 이기서
  • Published : 2000.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper deals with a sliding mode controller with integral compensation in a magnetic suspension system The control scheme comprises an integral controller which is designed for achieving zero steady-steate error under step disturbance input and a sliding mode controller which is designed for enhancing robustness under plant parametric variations. A procedure is developed for determining the coefficients of the switching plane and integral control gain such that the overall closed-loop system has stable eigenvalues. A proper continuous design signal is introduced to overcome the chattering problem. The performance of a magnetically suspended balance beam using the proposed integral sliding mode controller is illustrated. Simulation and experimental results also show that the proposed method is effective under the external step disturbance and input channel parametric variations.

Keywords

References

  1. S. Ueno, J. H. Lee, P. E. Allaire, Y. Okada, 'Sliding Mode Control of Magnetic Bearings: Compensation of Sensed and Self Sensing Performance', Conference on The American Society of Mechanical Engineering(ASME), Indianapolis, Indiana, June 7- June 10, 1999
  2. P. E. Allaire and A. Shinha, 'Robust Sliding Mode Control of a Planar Rigid Rotor System on Magnetic Bearings', 6th International Symposium on Magnetic Bearings, Cambridge, Mass, August 5-7, 1998
  3. T. L. Chen, Y. C. Wu, 'Integral variable structure control approach for robot manipulators', IEE Proceedings-D, Vol. 138, No. 2, March, 1992
  4. T. L. Chen, Y. C. Wu, 'Design of integral variable structure controller and application to electrohydraulic velocity servosystems', IEE Proceedings-D, Vol. 138, No. 5, September, 1991
  5. C. Edwards, S. K. Spurgeon, 'Sliding Mode Control Theory and Application', Taylor and Francis Ltd., 1998
  6. K. Nonami, K. Den, 'Sliding Mode Control - Design Theory of Nonlinear Robust Control(In Japanese)', Corona, Tokyo, 1994
  7. S. K. Spurgeon, R. Davis, ' A nonlinear control strategy for robust sliding mode performance in the presence of unmatched uncertainty', INT. J. CONTROL, Vol. 57, No. 5, pp. 1107-1123, 1993 https://doi.org/10.1080/00207179308934433
  8. E. Hilton, M. Humphrey, V. Stankovic and P. Allaire, 'Real Time Control of a Magnetic Bearing Suspension System for Flexible Rotors', Proceedings of the 5th International Symposium on Magnetic Suspension Technology, Santa Barbara, CA, USA, December 1-3, 1999