SLIDING MODE CONTROLLER

FIRST OREDER SLIDING MODE CONTROL

S X AX
using switching property it gives S= 0

X AX
REACHABILITY CONDITION

ss 0
 ADVANTAGES OF SLIDING MODE CONTROL

1. Low sensitivity to plant parameter uncertainty

2. Greatly reduced-order modeling of plant dynamics
3. Finite-time convergence (due to discontinuous control law)

DISADVANTAGES OF SLIDING MODE CONTROL

1. Chattering due to implementation imperfections

2. Over-focus on matched uncertainties (i.e., uncertainties that enter
into the control channel)
SIMULATION RESULT
 METHODOLOGY
A generalized signal flow graph is created for dc servo taking gearbox in
consideration.
Relations between all parameters in terms of equation are found from the graph.
The matlab model to obtain response for uncompensated system is created.
First order sliding mode controller to compensate friction is applied.
Two programs named as friction_model and friction_model_modified to
obtain the response of relative displacement is created, so that these values can
be used by loading it in future programs.
Some velocity data of the motor measured by encoder previously had been given.
Having smoothened those data corresponding velocity is found.
As input and output is known, so motor_tf in matlab is found.
Step response of this motor_tf from velocity data is subtracted to obtain friction.
The system as a nonlinear arx model and sliding motor control technique is
applied.
Finally friction compensated output is the result.
CONSTRAINTS & LIMITATIONS
As we did not have much previous knowledge about the subject
of the project as it is related to mechatronics engineering, we
had to spend a lot of time for studying the subject matters.

As a gearhead DC servomotor has a lot of nonlinear

uncertainty, we had to spend a lot of time for choosing the
different parameters of the entire model.

After completing the modeling part, we tried to compensate

the friction nonlinearity of the servomotor using PID controller
first but we did not get any justified output. So we used sliding
mode controller to compensate the friction non-linearity.
 FUTURE EXTENSION

We have used sliding mode controller of first order only. Higher order
extension of the compensator can be the future extension of this
project.

Hardware model of the project has not been done yet. So it can also
be thought of.
 APPLICATIONS

Gear head DC servomotor has various applications in robotics & other

industrial purpose and it is often desired that the nonlinearity of the motor
must not exceed a certain level so that it gives the required performance. So
the nonlinearity of the motor can be compensated by this method and in that
case our project will be very much useful.