Effectiveness of the Sliding Mode Control in a Two Coupled Discontinuous Dynamical Systems with Dry Friction

• Published in: Solid state phenomena Vol. 248; pp. 77 - 84
• Main Authors: Awrejcewicz, Jan, Olejnik, Paweł
• Format: Journal Article
• Language: English
• Published: Zurich Trans Tech Publications Ltd 01.03.2016
• Subjects: Sliding Mode Control; Friction; Numerical Modeling; Compensation
• ISSN: 1012-0394; 1662-9779; 1662-9779
• DOI: 10.4028/www.scientific.net/SSP.248.77

Numerical modeling and a tracking control of angular velocity of a rotor measured in the assumed sliding contact bearing subject to a discontinuous dynamical loading has been performed in this contribution. A contact interface in the direct current motor’s sleeve bearing has been treated as a dynamical system with dry friction, including a few sources of the stick-slip and creep-slip effects. The object of control is subject to an irregularly changing torque generated by another discontinuous dynamical system with friction. The loading comes from a block-on-belt model of a conveyer system with intensification of friction force, which has been elastically coupled with the direct current rotor’s shaft by means of the transmission belt. Therefore, the dynamic loading of the DC motor changes because of time-varying linear velocity of two belts. If such additional torque oscillates while the rotational velocity of the motor’s shaft is small due to a requirement, then it significantly affects the entire system’s dynamics producing stronger nonlinear response of the motor’s speed.