Sliding Mode Controller for Electromechanical System with Chattering Attenuation

Abstract

Electromechanical systems (EMS) may be considered as devices transforming electrical into mechanical energy. Every system that belongs to the electromechanical class can be decomposed in an electrical (ES) and a mechanical subsystem (MS). The motion control systems can be quite complicated because many different factors have to be considered in the design of electromechanical systems. These factors can be summarized as the nonlinearity, non-smoothness in its model, the uncertainty in system model parameters and non-satisfying matching condition. In this paper a new sliding mode control design approach for the EMS is proposed without neglecting the inductance in the electrical part or approximating the non-smooth perturbation. The first step in the proposed controller design consists of transforming the ES to a low pass filter (LPF) and then (the second step) designing a sliding mode controller (SMC) to the MS that will reject system model uncertainty and the effect of non-smooth disturbances. With a suitable selected LPF time constant, the SMC which controls the MS is nearly the equivalent control and as a result the chattering is attenuated greater than that in the case of classical SMC which designed by ignoring the electrical subsystem and also with a smaller control effort. The simulation results, of applying the proposed sliding mode control to an electromechanical system, show its superiority compared with classical SMC designed in two effective SMC features beside forcing the state to follow the desired position where chattering amplitude is greatly reduced with a significant reduction in control action value (approximately equal to third the required input voltage with the classical SMC).