2018 3rd IEEE International Conference on Recent Trends in Electronics, Information & Communication Technology (RTEICT-2018), MAY 18th

& 19th 2018

Sliding Mode Controller (SMC) Governed Speed Control of

DC Motor
Shridhar Rakhonde Vandana Kulkarni
Electrical Engineering department Electrical Engineering department
Government college of Engineering Government college of Engineering
Aurangabad, India Aurangabad, India
[email protected] [email protected]

Abstract- The sliding mode controller is one of best tool represented in state space equation and controlling of system
to analyze the second order dynamic system. This paper is designed based on variable control algorithm. [2]
provides comparative study of control techniques of DC In 1977, utkin describe the theory about sliding mode
motor under loaded condition. The design of sliding mode controller. Later, Decarlo and Drakaunov (1994) design the
control is based on the variable structure system (VSS).the hyper plane using lyapunov function. In 1992, El-Khazali and
trajectory path of the system depend on the control signal Decarlo used the closed loop control feedback system.The
of SMC controller. The main objective of the controller is closed loop system is increased the stability of system and
to reduce the settling time and peak overshoot of the increase the speed of the system. Closed loop feedback
system gives the new direction to the modern control system.
system. Particularly, in robotics DC motor is used and it’s
Slatine
very essential to control the speed under loaded condition.
And Sastry gives the sliding function to first order system
The SMC gives best performance in Linear and nonlinear which reduce the chattering phenomenon. The main
of system. Stability of the system and performance of dc disadvantage of sliding mode control is high frequency
motor under load condition can easily analyzed by using signal.to reduce chattering in the system use different type of
sliding mode nonlinear control. The proposed system filter.[3-4]
model simulate and developed in MATLAB. Today, in automation control world the research is
focused on control law that operate at high frequency. The
Keywords- Sliding Mode Control (SMC), DC motor, PID motion of trajectory in any state space equation moves along
controller, Speed Control the switching surface such motion is define as sliding motion.
I. INTRODUCTION There are many sources to produce chattering such as
computational delay, unmolded dynamic system and noise.
Electrical motors is rotational device which convert It’s very easy to change the function from one state to another
electrical energy into mechanical energy. There are many state by using variable structure system. Sliding function try to
application of of Dc motor such as robotics, home appliance maintain the continuity of signal in the system. The design of
and paper machine. The DC motor gives the maximum linear operator to get deserving sliding motion based on two
efficiency and smooth speed control characteristics. basically, condition.
armature flux control is used to control overrated speed and 1) The first condition is set linear operator (Ci) is equal to one
armature voltage is used to control underrated speed .there are and the nature of characteristic equation is stable.
many power electronic device which is used to get deserved 2) The second condition is decided on the basis of number of
output of dc electric drives .Dc-Dc power converter is used as switching component. [5-6]
smooth starter of the dc machine such as Buck, boost and
Buck Boost converter .the advantage of dc machine is small in
size and required low range of voltage. [1].
Variable structure system first discovered in late
1950’s.the variable structure system community give new
direction to the nonlinear time variant system .the potential of
the VSS is reduce the problem in automation control system
and enhance the capability of system work on high frequency.
The basic principle of VSS is depend on switching action and
it contains group of continuous subsystem. Variable structure
system play an important role in sliding mode controller. The
nonlinear system is easily analyzed parameter variation in the
load and external disturbance. Any second order system is Fig.1.phase plane in sliding mode control

978-1-5386-2440-1/18/$31.00 ©2018 IEEE

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 One of the major disadvantage of sliding mode defined using the Lyapunov function. Generally the Lyapunov
controller is chattering phenomenon. The high frequency function is expressed as
signal is called as chattering .adjustment the width of
boundary layer based on state space equation of linear variant 1 2
system to reduce the chattering effect. Number of state V s (5)
dependent uncertainties and parameter variation is useful to 2
define the the nature of state dependent boundary layer design.
This paper Divided into various section. section II
represent the concept of sliding mode control. In section III
V (0) 0, s ! 0, V ( s) ! 0 (6)
the mathematical modelling of DC motor is explain. Section 1d 2
IV is representing the proposed model of Sliding mode V s d K s (7)
controller. Section V is about the comparison between PID 2 dt
and proposed SMC. Finally, section VII is representing the Convergence condition is expressed as below,
conclusion of system.
ss d K s
(8)
II.SLIDING MODE CONTROL (SMC) ss d K sgn( s) s
The ideal sliding mode control is designed for dynamic
equation which governs sliding mode surface all the time. In Sliding mode condition is expressed as,
case of variable condition, the SMC is one of the most
important tool for the designing of high order nonlinear s sgn( s ) d K (9)
dynamic system. In 1983 the SMC is used in bilaov music and
sabanovic system [8]. The total information about the Condition of system reaches to the sliding surface, if K >0
designing of SMC is promoted in utkin, Guidner and shi. The switching control signal for the sliding surface is the
Basically to get the performance in linear region under the combination of equivalent control signal and switching control
parametric variation SMC is used. Basically, SMC operate in signal.
two mode such as reaching mode and sliding mode. Phase
portrait view of SMC as shown in the figure Prime objective
of SMC is define sliding surface for system control. [9] u(t ) ueq (t )  u sw (t ) (8)
Sliding surface having high frequency signal trajectory
path and signum function is defined to control the dynamic Where, is the equivalent control signal and is
system. The difference between output of system ( )and switching control signal
desired output ( ) should be minimum to get desired
performance.the trajectory error in the system is difined as
follows. [10] u sw (t ) K sgn( s) (9)

e(t ) y r (t )  y d (t ) (1)
+1, ( )>0
sgn(s(t))= 0, ( )=0 (10)
The sliding surface can be defined as
−1 , ( )<0

e(t ) >e(t), e (t).......e n 1

@
(t )  R
T
(2)
sgn(s(t))is defined as signum function . if s (t ) z 0
,then the role of switching control signal is to take state of
system and maintain the sliding surface of system. If sliding
s (t ) c * e(t ) (3) surface reached to desired point then switching control signal
is not able to work. After that, equivalent control signal try to
maintain the stability of system.
To design the sliding surface, the homogenous differential
equation is
n1
§d ·
s( x, t ) ¨  O ¸ e(t ) (4)
© dt ¹
For the sliding surface design, ( , ) = 0 and ( ) = 0. The
stability of system and sliding mode control of the system is

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 The mathematical equation of dc motor is,

( )
( )= + + ( ) (11)

( )= ( ) (12)

( )
− ( )= ( )+ (13)

( )= ( ) ( ) (14)

Table I. Design Parameter of DC Motor

Parameter Expression Unit

Fig .2. Phase Portrait of Sliding Mode Control Armature voltage Volt
e a (t )
To make the system insensitive with respect to the external Ia(t) Armature Current Amp
disturbance using SMC. By using switching control unit of Back emf Volt
SMC reduce the order of system. SMC gives the systematic
eb (t )
idea for the system to operate in stability region and give Ra Armature resistance 7.72 ohm
desired performance. By using SMC decide the trajectory the La Armature inductance 0.16273 henry
along the hyper plane of state space equation. For the J Moment of inertia 0.0236 kg.m2/s
determination of desired convergence property switching B Viscous Friction 0.003 Nms
frequency of system is presented. In the second stage choose Kt Torque Coefficient 1.25 Nm/Amp
the value of control unit, in this way to maintain the switching Kb Back emf constant 1.25 Vs/rad
TL Load Torque Nm
surface region in the range to get the continuous signal as
Te Electromagnetic torque Te
shown in figure [11]. Z Angular Velocity Rad/s

III.MATHEMATICAL MODELLING OF DC MOTOR

By using above equations ,the dc motor equation is
Basically, there are different type of DC motor is represented in state space euation.in state space representation
used according to their used in industries .dc motor is simple ,the angular velocity and armature current are the state
in structure and compact in size .precise speed control variable .the armature voltage is calculating variable .the
increase the efficiency and accuracy of the plant. The speed of general equation of state space model is expressed as follow,
dc motor is directly proportional to the armature voltage and
inversely proportional to the flux produce in the machine.in
PMDC the flux of machine is constant and the nature of ̇( ) = ( )+ ( ) (15)
armature voltage is variable[12]. The main objective is control
the variation in armature voltage. .the schematic circuit of dc ( )= ( )+ ( ) (16)
motor as shown in figure.
The state space equation of dc motor in matrix form,
ª dZ (t ) º ª b Kt º
« dt » « j j » ªZ (t )º ª 1 0º
« di (t ) » « »«  « »V (t ) (17)
«  Kb  Ra » ¬ia (t )»¼ « » a
« a » ¬ la ¼
¬ dt ¼ «¬ La La »¼

The transfer function of dc motor is derived from eq.(17)

And its second order system is expressed as

Fig.3.schamatic diagram of dc motor.

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 Kt Equation of state
C,s,e(t),è(t),ë (t)
Z ( s) JLa
(18)
ea ( s ) §§§ · ·
¨ ¨ ¨ s  Ra ·¸§¨ s  B ·¸ ¸  K b Kt ¸ SMC
¨¨© ¨ ¸
La ¹© J ¹ ¸¹ JLa ¸¹ ueg
©© Equation
ueq
+
Wref e usw u W W
Sliding Function K.sgn(s) System
Z ( s) 325.54 -
(19)
Va ( s) s  47.77s  413.52
2

IV. PROPOSED SLIDING MODE CONTROLLER FOR DC

MOTOR K

DC motor is the second order system and it gives the

damping Coefficient as well as the angular speed of dc motor. Fig. 5.proposed sliding mode controller
There are two type of control unit to define the nature of Sliding
Surface [13]. In Switching control signal use the signum Sliding mode controller gives remarkable performance for the
function and to reduce the chattering effect of system there is nonlinear system and its completely insensitive to the load
modification in the signum function. The switching control parameter. Simplified form of (22) expressed in (24),
signal maintain the trajectory path of the system .the nature of
sliding surface is varies with the load parameter. Switching Kt Ra B Kb Kt
control signal change the sliding surface according to the P1 , P2 , P3 , P4 (20)
variation in the load parameter. JLa La J JLa
Another control signal is Equivalent control signal which
depend on the design parameter of DC motor. Sliding surface Z
 ( P2  P3 )Z  ( P2 P3  P4 )Z ea P1 (21)
depend on the state variable like angular velocity and derivative
of angular velocity. The equivalent control signal is design such
that which reduce the settling time and peak overshoot of the To define the slide mode controller, consider the state variable
system. The Equivalent control signal increase the stability of like,
the system and reduce the steady state error of the system.
X 2 Z (t ),
X1 Z (t ),
Y X 1 Z (t ) (22)
X2 X 1 Z (t )
u ea (t )
X 2
Z (t ) ( P2  P3 )Z  ( P2 P3  P4 )Z  ea P1 (23)

Design equation of sliding surface and the derivative of

sliding surface is expressed as follows

s CX 1  X 2
s Ce  e (24)
s C (Zr  Z )  Z r  Z
Fig.4:.Block diagram of proposed system.

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 s C (Z r  Z )  Z
r  Z
0 VI.SIMULATION AND RESULT
(25)
s C (Z )  Z
 K sgn( s)
1
>( P2  P3  C )Z )(P2 P3  P4 )Z  K sgn( s)@ u (26)
P1

By using the value in table I,

P1 325.84, P2 47.44, P3 0.127, P4 406.855

1 (27)
u(t ) >(47.567  C) X 2  (421.88) X 1  K sgn( s)@
325.484
Fig 6. Simulation of proposed SMC
To make system more stable and reducing the effect of
chattering, there is need of modification in signum function.
The range of ‘ ’is 0  G  1

1 ª § s ·º (28)
u (t ) «(47.567  C ) X 2  (412.88) X 1  k ¨¨ ¸»
¸
325.484 ¬« © s G ¹¼»

V.COMPARISION OF SPEED CONTROLLER

PID controller is the combination of three controller and Fig.7. simulation of PID controller
its having three coefficient such as Kp, Ki, and Kd constant.
[14] the value of damping coefficient is decide the nature of
system .If Damping Coefficient is less than one then system is
underdamped. The major disadvantage of PID is feedback
system having constant parameter and not providing any
knowledge regarding the process. PID controller is to much
sensitive about the load parameter.
Basically, SMC gives a remarkable performance for
single input single output (SISO) system. The sliding control
method gives minimum peak overshoot as well as settling
time under full load condition as shown in table. The design of
sliding surface is depend on the control unit (u). The system
Fig.8.angular velocity Vs. time in SMC
should be the insensible to the variation in the load parameter.
There are various speed control topology for dc motor but the
SMC gives a desired performance under the complex load.

Table II. Comparison between PID and SMC

Parameter Expression PID SMC

Tr Rise time (s) 0.02 0.086
Ts Settling Time(s) 0.299 0.18
Overshoot(Mu) Undershoot (%) 2.28 0.71
Overshoot(Mo) Overshoot (%) 6.99 1.53
ess Steady state error 0 0

Fig.8.angular velocity Vs. time in PID

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 [7]. Seyed Mehdi Rakht Ala ,Monazzahalsadat Yasoubi and Hassan
Hossenia, “Design of Second Order Sliding Mode And Sliding Mode
Algorithms:A Practical Insight To DC-DC Buck Conveter” Piblished in
IEEE/CAA JOURNAL OF AUTOMATICA
SINICA,VOL.4,NO.3,JUlY 2017
[8]. Arie Levant , “Sliding Order and Sliding Accuracy In sliding mode
control” ,published in International Journal Of Control ,October 2012.
[9]. ChintuGurbani and Dr.Vijay Kumar, “Designing Robust Control by
Sliding Mode Control Techniques” published in Advance in Electronic
and Electrical Engineering.
[10] Emre Hasan Dursun and Akif Durdu ,Speed control of DC motor
with Variable load using sliding Mode Control” ,international JouRnal
Fig.9 .Phase Portrait view of Error w.r.t. error and derivative error
Of Computer and Electrical Engineering,June 2014.
[11]M.S.Chen,, Y.R.Hwang, and M.Tomizuka “Sliding mode Control
Reduced Chattering For Systems With Dependent
Uncertainities”Published in International Conference on Networking
,Sensing Control Taipei,Taiwan,march 2004.
[12]. Uma maheswararao,Y.S.Kishore and K.Amaresh, “Sliding Mode
control of DC Motor”Published in international Conference on
Communication System and Network Technology, 2011
[13]. E.Hasan dursun,M.Latif Levent , Akif Durdu and Omer aydogdu,
“Speed Control of a Variable Loaded DC Motor By Using Sliding Mode
And Iterative Learning Control”, Published in International Journal of
Electrical Energy ,Vol.5.No.1,June 2017.
[14] Arun Prasad K.M, Bindu M.Krishna, and Usha Nair, “Modified Chattering
Free Sliding Mode Control of DC Motor”,Published in International Journal
Fig.10.Sliding surface change according to control signal
Of modern Engineering Research,Vol.3,may-june 2013..
VII .CONCLUSIONS
The proposed sliding mode controller reduce the steady
state error of the system and improved the performance of
system under cyclic condition. In case of transient analysis,
the SMC gives more accurate result than the PID controller.
The peak overshoot and settling time of second order system
can easily reduce by the SMC controller. The Kp ,Ki and Kd
of PID controller is very sensitive to the load parameter but
The control signal of SMC controller easily tolerate the
continuous change in load parameter and external disturbance.
The sliding mode controller increases the stability of second
order system.

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