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Sliding Mode Speed Control of a DC Motor

Article · June 2011

DOI: 10.1109/CSNT.2011.86

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 2011 International Conference on Communication Systems and Network Technologies

SLIDING MODE SPEED CONTROL OF A DC MOTOR

Uma maheswararao.Ch Y.S.Kishore Babu K.Amaresh

School of Electrical Engineering School of Electrical Engineering School of Electrical Enngineering
Vignan University, Vadlamudi Vignan University, Vadlamudi Vignan University, Vadlamudi
E-mail:[email protected] E-mail:[email protected] E-mail: [email protected]

ABSTRACT The main objective of this paper is to control

PI controllers have a simple control structure,
the speed of separately excited DC Motor using a Sliding
inexpensive cost, many proposed systematic tuning methods,
mode controller based on VSS approach. This controller is
and have been used for more than half a century. However,
based on variable structure systems which aim at reducing
when the system is nonlinear but known or where there are
the peak overshoot, steady state error and settling time of a
bounded uncertainties in the system, PI controllers are not
DC Motor. In the first stage, PI controller is used to
perfectly able to stabilise the system, particularly, when the
control the speed of DC Motor. A model is developed and
nonlinearity is very high or the bound of uncertainty is large. In
simulated using MATLAB/SIMULINK. Later on the same
many practical problems, almost perfect disturbance rejection
is done with sliding mode controller. The speed control of
or control performance is required. SMCs may be applied to the
DC Motor using both PI and Sliding mode controllers is
system to obtain these performances. An SMC enforces the
studied and the results are compared. The simulation
system trajectories to move on a prespecified surface and
results show that Sliding mode controller is superior than
remain on it thereafter. On the other hand, a discontinuous
PI for speed control of DC motor. Since the SMC is robust
SMC may be approximated by a continuous control. In fact, the
in presence of disturbances, the desired speed is perfectly
trajectories tend to an equilibrium point within a boundary of
tracked.
the sliding surface. When the trajectories move on the sliding
surface, the system is internally controlled by a virtual control,
KEYWORDS: Variable structure control, Sliding mode
the so-called equivalent control. SMCs are insensitive in the
controller, DC motor drives.
presence of uncertainties and unmodelled dynamics.
I.INTRODUCTION

Variable structure control (VSC) made its first II.VariableStructureSystems (VSS)

appearance in early 1950’s in Soviet Union. The variable
A variable structure system is a dynamical system
structure systems (VSS) consist of a set of continuos
whose structure changes in accordance with the current value
subsystems with proper switching logic and, as a result, control
of its state. A variable structure system can be viewed as a
actions are discontinuous functions of system states,
system composed of independent structures together with a
disturbances and reference inputs. The dominant role in VSS
switching logic between each of the structures. With
theory is played by sliding modes, and the main idea of
appropriate switching logic, a variable structure system can
designing VSS control algorithms consists of enforcing this
exploit the desirable properties of each of the structures the
type of motion in some manifolds in system state spaces.
system is composed of. Even more, a variable structure system
may have a property that is not a property of any of its
When there are disturbances and uncertainties in a structures.
system, an appropriate control should be designed so that the
system stability and desired system responses are achieved. We can illustrate above idea with an example:
Sliding mode control (SMC) is insensitive in the presence of We consider a dynamical system model
external uncertainties and disturbances, particularly, to the so-
called matched uncertainties. The robustness properties of x = x - (1)
SMC have led this approach to be an intensive, popular and x = Ux
suitable method for the control of wide classes of linear and
nonlinear systems. Various SMC approaches have been
having two structures corresponding to u = 1/a and u = a,
evolved during the last three decades comprising of practical
where a is a positive constant greater than 1; in our
implementation of SMC and theory development of SMC.

978-0-7695-4437-3/11 $26.00 © 2011 IEEE 387

DOI 10.1109/CSNT.2011.86
example we take a = 5. The phase-plane portraits of the become zero. This type of motion is called Sliding Motion. To
structures are shown in figures (a) and (b). The phase-plane emphasize the importance of the sliding motion, the control is
portraits of the individual structures are families of ellipses. often called as Sliding Mode Control. When the trajectory
Neither of the structures is asymptotically stable—they are only moves on the sliding surface, the system is internally controlled
stable. However, by choosing a suitable switching by the so called equivalent control.
logicbetween the structures, we can make the resulting variable
structure system asymptotically stable. Indeed, suppose the
DC motors are extensively used in robotics and
structure of the system is changed any time the system’s
electrical equipments. Therefore, the control of the speed of the
trajectory crosses either of the coordinate axes of the state
DC motor is very important and has been studied since the
plane, that is,
early decades in the last century. Generally, the DC motor
1 systems have uncertain and nonlinear characteristics which
,x x 0 degrade performance of controllers. Based on these reasons,
A= 5 (2) Sliding Mode Control (SMC) is one of the popular control
5, x x 0 strategies and powerful control technology to deal with
thenonlinear uncertain system. It is often used to handleany
worst-case control environment such as parametric
perturbations with lower and upper bounds,
externaldisturbances, stick-slip friction, and etc. Precise
dynamic models are not required and its control algorithms can
be easily implemented. However, the robustness of the
slidingcontrol strongly depends on specified parameters in
designing of the sliding function.

Figure1: Phase Plane Potraits Figure2: Block diagram of a DC motor with SMC system

Here (a) and (b) are the phase-plane portraits of structures

making up a variable structure system. (c) is phase-plane
IV. Generation of the control signal for SMC
portrait of the variable structure system itself, where the
structure ofthe system is changed any time the system’s DC motors are widely used for industrial and
trajectory crosses either of the coordinate axis. domestic applications. Examples are as robotic and actuator for
III. Sliding Mode Control (SMC) automation process, mechanical motion, and others. Accurate
speed control of the motor is the basic requirement in such
applications. The electric circuit of the DC motor is shown in
The Sliding mode control is one way of approach to Fig. 4. Objective is to control the speed of the motor by
Variable Structure Control. armature voltage control. The reference signal determines the
desired speed. For simplicity, a constant value as a reference
signal is given to the system to obtain desired speed.
In many practical problems, almost perfect
disturbance rejection and set point tracking are required. SMC
may be applied to such systems to obtain these performances.
VSC has non-linear feedback, which is discontinuous in the
nature. The control is called non-linear because the control
input switches rapidly between two or more control limits.
Using this control as a feedback the structure of the system can
be altered or switched as its state crosses each discontinuity
surface. This closed loop system is described as Variable
Structure Control System or Variable Structure System. The Figure 3: The structure of DC Motor
state crosses and re-crosses the surface, called switching
surface or sliding surface and then continuously lies on the
switching surface, when error and rate of change of error

388
 The differential equations governing the dynamics of the ( ) .
system is given by = - (7)
( ) .

T(t) = J + B (t) - ( 3)
In time domain the above equation can be

Where represents angular velocity in rad/s, J represents ( ) + 51 ( ) + 51.39 ( ) = 3992.015 ( ) - ( 8)

the moment of inertia in Kg / and b is the coefficient of
viscous friction which opposes the direction of motion in
Now consider
Nms. The torque T generated by the armature current in Nm is
x = (t) and u = V (t) - (9)
given by
(t) = K i (t) - (4)
Then the system can be converted in the following canonical
form
Where ia (t) is the armature current in Amp and Kt is torque
x = x
factor constant in Nm/Amp. This in turn is assumed to satisfy
Kirchhoff’s voltage law
x = 51.39 x 51 x + 3992.015 U - (10)
V (t) E (t) = R i (t) + L - (5)
y=x

Where and are the armature inductance in H and Now select the sliding surface
resistance in ohm respectively and represents electromotive
force in V given by σ = c (r x ) + x - (11)

E (t) = K (t) ω(t) - (6)

Where is the back emf constant in Vs/rad . The input

terminal voltage is taken to be the controlling variable.
U= U + U - (12)

Using above equations, one can write state model

with the ω and as state variables and as manipulating U= ( 51.39 x + (c 51)x ) + k - (13)
.
variable, as given below
Where K > 0 is selected sufficiently large. Larger the value
of K the faster the trajectory converges to the sliding surface.
() K
J J ω(t) 0
= + V (t) This function is given as control input to the DC motor model
() K R i (t) L
L L to control the speed of it.

Table 1
Parameters of DC Motor V. Simulink idea for Sliding Mode Control
Ra= 0.6 Ώ = 0.8 /
In order to control the speed of DC motor using
= 0.012 2 2 sliding mode control we need to design the motor as per our
J =0.0167 kg m /s
convenience to give our sliding mode control signal which is
derived above as input.
= 0.8 / b = 0.0167

Using the parameters given in Table 1, transfer function of the

DC motor with angular velocity as controlled variable and
input terminal voltage as manipulating variable is determined
as given below

Figure 4: Simulink Model Of DC Motor for SMC

389
We need to place this dc motor block in the below model of
SMC to control the speed as per our requirement.

Figure 8: Output Waveform using PI control

Figure 5: Control Model for SMC

VI. SIMULATION RESULTS

Case I: The load torque is subjected to change from 10N-m to

25N-m t 0.8 sec and constant reference speed of 100 rad/sec.

Figure 9: Output Waveform using SMC

Mp SettlingTime SteadyState
Error
PI 4.33 0.025 0.22
SMC 0.0667 0.0023 -0.012

Figure 6: Output Waveform using PI control

Case III: The reference speed is subjected to change from

100rad/sec to150 rad/sec and step load torque of 10N-m to 25
N-m at 0.8sec.

Figure 7: Output Waveform using SMC

Mp SettlingTime SteadyState
Error
PI 0.15 0.005 0.04
SMC 0.001 0.001 -0.002 Figure 10: Output Waveform using PI control

Case II: The reference speed is subjected to change from

100rad/sec to150 rad/sec at 0.8 sec and constant load torque of
25 N-m.

390
 5. Mohammed Golam Sarwer, Md. Abdur Rafiq and
B.C. Ghosh," Sliding Mode Speed Controller of a D.C
Motor Drive", Journal of Electrical Engineering, The
Institution of Engineers, Bangladesh, Vol. EE 31, No. I
& II, December 2004.

6. Hung J. Y., GAO W., and Hung J. C., “Variable

Structure Control: A Survey”, IEEE Trans., on
Industrial Electronics, Vol. 40, No. 1, February1993, pp.
2-22.
Figure 11: Output Waveform using SMC
7.Savanovic, A, Benitez R Nashimoto H, Harashima F.
(1988).‘VSS approach to DC drives control”, PESC ‘88
Mp SettlingTime SteadyState Record., 19th Annual IEEE, vol.1, pp. 235 -242.
Error
PI 4.3 0.035 0.3 8. Utkin V.I. (1993)“Sliding mode control design
principles and applications to electric drivw” lndustrial
SMC 0.073 0.0067 -0.02 Elcctronics, IEEE Transactions on, Vol t, pp. 23 -36.

VII. CONCLUSIONS

In this paper PI controller and SMCare applied for

the speed control of DC motor .Performance of both controllers
are evaluated at different step load torques and different step
reference changes in speed and it is observed that performance
of Sliding Mode controller is better over PI controller when
settling time, peak overshoot, and steady state error are
considered. It would be possible to get better performance of PI
controller by increasing proportional and integral coefficients
but it will be a problem in real time implementation of PI
controller for changes in the parameters of plant.

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