Sliding Mode Control of DC Motor in MATLAB, Study Guides, Projects, Research of Control Systems

Download Sliding Mode Control of DC Motor in MATLAB and more Study Guides, Projects, Research Control Systems in PDF only on Docsity! Sliding Mode Control of DC Motor using MATLAB Environment MATLAB CODE % define the physical parameters of the dc motor Ra = 1.0; % armature resistance (ohm) La = 0.5; % armature inductance (H) Kt = 0.01; % motor constant (N.m/A) Kb = 0.01; % back emf constant (V.s/rad) J = 0.01; % moment of inertia (kg.m^2) B = 0.1; % viscous friction coefficient (N.m.s) % define the initial conditions theta0 = 0; % initial position (rad) thetadot0 = 0; % initial angular velocity (rad/s) i0 = 0; % initial armature current (A) % define the time vector for the simulation t = 0:0.001:1; % time vector (s) % define the reference signal r = sin(t); % sine wave reference signal % define the sliding surface s = theta - r; % error between position and reference % define the control gain K = 10; % control gain % define the system state x = [theta0; thetadot0; i0]; % initial state % simulate the system for k = 1:length(t)-1     % compute the control signal     u = -K*sign(s(k));     % compute the derivative of the state     xdot = [x(2); (1/J)*(Kt*x(3)-B*x(2)-Kb*x(2)^2); (1/La)*(u-Ra*x(3)- Kb*x(2))];     % update the state     x(:,k+1) = x(:,k) + xdot*(t(k+1)-t(k)); end % extract the position and current from the state theta = x(1,:); % position (rad) i = x(3,:); % current (A) % plot the results