Reaching Law based Sliding Mode Control of Armature Controlled DC Motor

Abstract

Application of the reaching law sliding mode control was explored for the armature control DC motor. Currently, there is a need for precision in motor control due to the rise in the rate at which things needed to be done as a result of the technology breakthrough. There are several techniques applied for motor control. The advantage of the conventional nonlinear techniques is the instant availability of models and also the existence of techniques for rigour evaluations. The investigated technique was subjected to different likely disturbances viz; the pulse signal, a decrease in the dynamic friction of the system by 50% and increase by 100%, and a decrease in the system moment of inertia by 50% and increase by 100%. The comparison was made with the PID and unity feedback versions of the system. Results show remarkable superiority of the sliding mode based technique over the other two for the system. It clearly showed that such changes considered could be compensated very well with the control system because despite the presence of perturbations its response was similar to without disturbance. The performance of the PID was by far better than with unity feedback. Hence, it indicates that the reaching law sliding mode control could lead to a remarkable improvement of such systems and similar in the future but after further investigations.