가변구조 시스템을 이용한 브러시리스 서보모터의 위치제어

Position Control of Brushless Servo Motor using Variable Structure System

Variable Structure System(VSS) la being extended to a new control system of ac servo machines for its merits of simple mechanism and robustness. This paper has studied about applying VSS to position control for brushless servo motor. But VSS has the chattering problem of control input. This chattering phenomenon cause acoustic noises, torque ripple and increase harmonics of the current. One of the useful way to eliminate this defect of VSS, linearlizing the switching function is discussed here. Though the conventional method of linearizing the switching function diminishes the chattering, it may degrade the robustness of the system. In this paper, new linearized switching function which shows robust performance to the parametric variation and reduces chattering simultaneously is introduced and assured by simulation.