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Issue title: Proceedings of the twelfth International Symposium on Interdisciplinary Electromagnetic, Mechanic and Biomedical Problems, ISEM Bad Gastein
Article type: Research Article
Authors: Kozek, Martina; * | Lorenz, Andreaa | Kampas, Philippa
Affiliations: [a] Vienna University of Technology, Gußhausstraße 27-29, 1040 Vienna, Austria
Correspondence: [*] Corresponding author. Tel.: +43 1 58801 32812; Fax: +43 1 58801 32899; E-mail: [email protected]
Abstract: Detailed mathematical model of a DC servo drive is established and validated by measurements. Due to battery power supply, a pulse-width modulated (PWM) voltage signal, and a microcontroller with low sampling rate (typical for embedded systems) a comprehensive switched non-linear description results. Linear and sliding-mode controllers (SMC) are designed for the drive. Robustness with respect to parameter variations and measurement noise is investigated by simulation. In contrast to many other reports the linear controller outperforms the SMC because of the given restrictions in control input and sampling time.
Keywords: DC servo motor model, position control, pulse-width modulation, embedded system
DOI: 10.3233/JAE-2007-845
Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 25, no. 1-4, pp. 521-527, 2007
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