Study on Control System in Opto-electronic Tracking Based on Sliding Mode Variable Structure

Xiangru Wang, Jianyong Zhong, Ranjun Wang
2015 Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation   unpublished
Aiming to solve the problem that DC torque motors is not steady to run at low speed in the control system of opto-electrionic tracking, sliding mode variable structure is applied to the low-speed servo system to improve stability of the system. At first the traditional design method of position, velocity and current loop control and Sliding Mode Variable Structure control are described. And their advantages and disadvantages are compared. Then the main factors affecting the performance of the
more » ... erformance of the low-speed opto-electronic servo system are analyzed. It's concluded that friction is the most important factor. And the concrete model of the friction is shown in mathematical model. Finally, the result of simulation by MATLAB indicates that Sliding Mode Variable Structure can achieve good control effect in the situation of DC torque motor running at low speed, which is superior to conventional design methods.
doi:10.2991/icmra-15.2015.170 fatcat:qqj5r3ybgzdkje64zfhbinmdme