Efficient Integrated Control for Chattering Phenomena of a Motion Control System in Sliding Mode.

In this paper the modelling of a motion control system with Variable Structure System (VSS) theory using Matlab/Simulink and Caspoc is elaborated The keystep of most sliding mode designs is the chattering free implementation. The usual sources of chattering are the limited switching frequency and the non-modeled dynamics. The main contribution of this paper is the introduction of a powerful integrated simulation tool, which enables a detailed analyze of chattering. The control is modeled in Simulink, while the power converter is modeled in Caspoc. This has advantages on both sides. Powerful toolboxes existing for Simulink can be used and the power electronics can be modeled in detail in the dedicated power electronics and drives simulation program Caspoc. This approach and advantages of it are demonstrated by analysing the chattering phenomena of a motion control system. Experimental results of a DSP-controlled single-degree-of-freedom motion-control system are presented and compared with the simulation. [ABSTRACT FROM AUTHOR]