An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller

Jie Li; Haibo Yu; Yanbo Wang; Bokai Xuan; Zhe Chen

doi:10.1007/978-981-32-9050-1_71

An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller

Jie Li, Haibo Yu, Yanbo Wang, Bokai Xuan, Zhe Chen

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

Abstract

Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.

Original language	English
Title of host publication	Proceedings of 2019 Chinese Intelligent Automation Conference
Editors	Zhidong Deng
Number of pages	9
Publisher	Springer
Publication date	2019
Pages	629-637
ISBN (Print)	978-981-32-9049-5
ISBN (Electronic)	978-981-32-9050-1
DOIs	https://doi.org/10.1007/978-981-32-9050-1_71
Publication status	Published - 2019
Event	2019 Chinese Intelligent Automation Conference - Jiangsu, China Duration: 20 Sept 2019 → 22 Sept 2019

Conference

Conference	2019 Chinese Intelligent Automation Conference
Country/Territory	China
City	Jiangsu
Period	20/09/2019 → 22/09/2019

Series	Lecture Notes in Electrical Engineering
Volume	586
ISSN	1876-1100

Keywords

Joint motor
Sliding motor controller
Parameter tuning
Iteration
Sliding mode controller

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@inproceedings{2ddfe1987bd1429e85b81d39aa7950e2,

title = "An Iterative Parameter Tuning Method for Robot Joint Motor{\textquoteright}s Sliding Mode Controller",

abstract = "Parameters tuning of robot joint motor{\textquoteright}s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor{\textquoteright}s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller{\textquoteright}s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.",

keywords = "Joint motor, Sliding motor controller, Parameter tuning, Iteration, Sliding mode controller",

author = "Jie Li and Haibo Yu and Yanbo Wang and Bokai Xuan and Zhe Chen",

year = "2019",

doi = "10.1007/978-981-32-9050-1_71",

language = "English",

isbn = "978-981-32-9049-5",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer",

pages = "629--637",

editor = "Zhidong Deng",

booktitle = "Proceedings of 2019 Chinese Intelligent Automation Conference",

address = "Germany",

note = "2019 Chinese Intelligent Automation Conference ; Conference date: 20-09-2019 Through 22-09-2019",

}

Li, J, Yu, H, Wang, Y, Xuan, B & Chen, Z 2019, An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller. in Z Deng (ed.), Proceedings of 2019 Chinese Intelligent Automation Conference . Springer, Lecture Notes in Electrical Engineering, vol. 586, pp. 629-637, 2019 Chinese Intelligent Automation Conference , Jiangsu, China, 20/09/2019. https://doi.org/10.1007/978-981-32-9050-1_71

An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller. / Li, Jie; Yu, Haibo; Wang, Yanbo et al.
Proceedings of 2019 Chinese Intelligent Automation Conference . ed. / Zhidong Deng. Springer, 2019. p. 629-637 (Lecture Notes in Electrical Engineering, Vol. 586).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller

AU - Li, Jie

AU - Yu, Haibo

AU - Wang, Yanbo

AU - Xuan, Bokai

AU - Chen, Zhe

PY - 2019

Y1 - 2019

N2 - Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.

AB - Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.

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T3 - Lecture Notes in Electrical Engineering

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ER -

An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller

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