Sliding Mode Control (SMC) In Friction Compesation

Chey , Long Sheng (2011) Sliding Mode Control (SMC) In Friction Compesation. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Machining processes have evolved significantly over time in order to adapt to the increasing demand for speed, accuracy, and efficiency. This evolution or paradigm shift has created new and highly critical challenges. This project aims at addressing some of these issues, namely the compensation of the effect of friction forces on the accuracy of the machining process.Issues regarding friction effects in machining process have been studied extensively in the past and various techniques and ideas have been proposed and validated. Simple linear feedback control techniques such as PI, PID, or cascade control alone are insufficient to compensate the nonlinear friction behavior. Hereby, a robust controller, namely sliding mode controller (SMC) is proposed as control technique in this project in compensating friction force during motion reversal of a drive system in order to increase the system’s accuracy. The controller’s compensation performance is measured based on the magnitude of quadrant glitches, a product of highly non-linear complex behavior at the point of motor reversal motion and it is characterized by the presence of “spike” in each quadrant of circle. Lastly, the controller’s performance is compared with the performance of PID controller in compensating friction forces.

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