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Proceedings Paper

Adaptive sliding mode control on inner axis for high precision flight motion simulator
Author(s): Yongling Fu; Jianjun Niu; Yan Wang
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Paper Abstract

Discrete adaptive sliding mode control (ASMC) with exponential reaching law is proposed to alleviate the influence of the factors such as the periodical fluctuation torque of motor, nonlinear friction, and other disturbance which will deteriorate the tracking performance of a DC torque motor driven inner axis for a high precision flight motion simulator, considering the limited compensating ability of the ASMC for these uncertainty, an equivalent friction advance compensator based on Stribeck model is also presented for extra-low speed servo of the system. Firstly, the way direct using the available parts of the inner axis itself to ascertain the parameters for Stribeck model is listed. Secondly, adaptive approach is used to overcome the difficulty of choice the key parameter for exponential reaching law, and the stability of the algorithm is analyzed. Lastly, comparable experiments are carried out to verify the valid of the combined approach. The experiments results show with a stable 0.00006°/s speed response, 95% of time the tracking error is within 0.0002°, other servos such as sine wave tracking are also with high precision.

Paper Details

Date Published: 13 October 2008
PDF: 7 pages
Proc. SPIE 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment, 71282A (13 October 2008); doi: 10.1117/12.806867
Show Author Affiliations
Yongling Fu, Beihang Univ. (China)
Jianjun Niu, Beihang Univ. (China)
Yan Wang, Beihang Univ. (China)


Published in SPIE Proceedings Vol. 7128:
Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment

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