METHOD OF SLIDING MODE CONTROL

Title:

METHOD OF SLIDING MODE CONTROL

Document Type and Number:

WIPO Patent Application WO/1990/013857

Kind Code:

A1

Abstract:

A method of sliding mode control which decreases the steady deviation from the control target and which improves control stability by adapting the control system to a change in the system parameter. The processor in a digital servo circuit of the servo control system calculates position deviation (epsilon), speed deviation (epsilon), a value of the switch-over plane (s) and a value of an integration element (|)((epsilon + C.epsilon)) on the switch-over plane (100 to 102, 107, 113) based on an instructed position (r) and an actual position (). The processor further calculates a first term and a second term of switch-over quantity (T1) according to a calculation formula determined depending upon the switch-over plane, position deviation and positive or negative sign to which the value of the integration element is corresponded (103 to 115). Then, based on a calculated value of switch-over quantity (T1) that is equal to the sum of the first and second terms and that satisfies the Liapunov stabilization condition, a torque instruction (T) is calculated that is sufficient to converge the characteristics of the control system to the switch-over plane (s = 0). As a result, the control system does not lose stability even when the system parameters undergo a change.

Inventors:

TORII NOBUTOSHI (JP)
NIHEI RYO (JP)
KATO TETSUAKI (JP)

Application Number:

PCT/JP1990/000601

Publication Date:

November 15, 1990

Filing Date:

May 11, 1990

Export Citation:

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Assignee:

FANUC LTD (JP)

International Classes:

G05D3/12; G05B13/02; G05B19/19; (IPC1-7): G05B13/04; G05D3/12

Foreign References:

JPS458129B1
JPH05646603B

Other References: