| 제목 |
재귀 최소 자승법을 이용하는 적분 슬라이딩 모드 및 MIT 규칙 기반
DC 모터의 적응형 속도 제어 알고리즘 |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
김학주(한경대학교), 오광석(한경대학교) |
| Key Words |
Lyapunov function(랴푸노프 함수), Sliding surface(슬라이딩 평면), Adaptive controller(적응형 제어기), Recursive least squares(재귀 최소 자승법), Multiple forgetting factor(다중 망각 인자), MIT rule(MIT 규칙) |
| 초록 |
This paper presents an integral sliding mode approach for adaptive velocity control algorithm of DC motors using recursive least squares with the MIT rule. For adaptive controller design, a mathematical model of a DC motor system was derived, along with an error dynamic model using velocity error state and the derived mathematical model. Parameters of the error dynamic model were estimated using the recursive least squares with multiple forgetting factors. To reflect the advantages of sliding mode control, the integral sliding surface was designed. The Lyapunov function was designed to prove stability and derive control input. The integral gain in sliding surface was adjusted by the MIT rule with sensitivity estimation to minimize steady state control error. DC motor velocity control scenarios were applied in Matlab/Simulink and actual test platform to evaluate the performance the proposed controller. The results showed a reasonable performance of the proposed control algorithm. |
| 원문(PDF) |
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