DEVELOPMENT OF ROBUST MOTION CONTROL SYSTEMS AND ITS SYSTEMS

我们已经将滑模控制作为最健壮的控制方法应用于直流伺服电机、机械臂和功率逆变器的控制。通过应用的开发，解决了滑模控制带来的能量损失、抖振等严重问题，采用优化的切换方式提高了系统的能效，提出了带VSS观测器的离散时间滑模，降低了抖振。这些有效性已被两质量系统的实际实验所证实。我们利用商用CAD开发了控制系统，并在CAD的框架下制作了几个控制设计工具，这些工具已经完成，可以应用于多种类型的运动控制系统。

We have applied sliding mode control as the most robust control method to control of DC servo motors, robotic arms and power inverters. Through development of the applications, we have solved serious problem accompanied with sliding mode control such as losing energy and chattering, etc. Energy efficiency has been improved by using optimized switching pattern and chattering has been reduced by proposing discrete time sliding mode with VSS observer. These validities have been approved by actual experiments of 2 mass system. We have developed the control systems using commercial CAD and made several control design tools in the frame of the CAD.The tools have been completed so that they would be applied to many types of motion control systems.