| Popis: |
This paper deals with the design, simulation and implementation of a digital sliding mode controller for brushless DC motor-based electromechanical actuator. Firstly, a mathematic model of the actuator is drawn from its structure. Secondly, sliding mode control algorithm with the approach to weaken chattering is designed for the system, and simulations are carried out under Matlab/Simulink environment. Thirdly, the SMC algorithm is implemented on TMS320F2812 digital signal processor platform along with extensive experiments. Lastly, results of simulation and experiment are compared and discussed, showing that the proposed approach can achieve accurate and fast position tracking in the presence of load disturbance and plant parameter variations. |
