Speed control of DC motor using sliding mode

control approach
Prabhudev Ghalimath,

S. S. Sankeswari

Department of Post Graduation,

Mahatma Bashweshwar Societys
College of Engineering,
Ambajogai, Beed, India
Email: [email protected]

Department of Post Graduation,

Mahatma Bashweshwar Societys
College of Engineering,
Ambajogai, Beed, India
Email: [email protected]

AbstractThis paper presents the sliding mode controller

design to regulate the speed control of the direct-current(DC)
motor. In this, The sliding surfaces used to derive the different
control schemes presented in this work are based on an integraldifferential equation acting on the tracking-error expression.
A new approach for the design of sliding mode controllers based
on first-order-plus-dead time model of the system, is developed.
This approach results in a fixed structure controller with a set of
tuning equations as a function of the characteristic parameters
of the model. The controller performance is judged by simulation
on model of the DC motor
Index TermsDC motor; Sliding mode control, PID controller,
single variable; disturbance; robustness.

I. INTRODUCTION
Variable structure system (VSS) with sliding mode control
was first proposed and elaborated in the early 1950s in the
Soviet Union by Emelyanov and several co researchers. At
the very beginning, VSS is well known as special class of
nonlinear systems for solving several specific control tasks in
second order linear and nonlinear systems. However VSS did
not receive wide acceptance among engineering professionals
until 1977, the most interesting fact is that robustness has
becomes a major requirement in modern control application
[1]. The performance of low order control system design, such
as with proportional- integral-derivative (PID) controllers is
less effective for electomechanical systems such as DC drives.
The parametric uncertainty introduced due to plant-model
mismatch degrades the overall system performance since these
uncertainties are hardly considered in the design of linear
controllers like PID. During the past few decades, the robust
control system design for plant-model mismatch processes
have received considerable attention in control community.
Among the established design approaches for robust process
control, sliding mode control (SMC) plays an important role
because it not only can stabilize certain and uncertain systems
but also provide the capability of disturbance rejection and
insensitivity to parameter variations [1], [2].
The most distinguishing property of VSS is its ability to
result in very robust control systems. In other words, the
system is completely insensitive to parametric uncertainty
and external disturbances. Due to its excellent invariance and
robustness properties, the VSS concepts have been developed

into practical application mainly in the field of control of

DC servo motors [2][3], robotic manipulators [4][5], PM
synchronous servomotors, induction motors, aircraft control,
spacecraft control and flexible space structure control [6].
These experiments confirm the theoretical results regarding
robustness of VSS with sliding modes. However, in some
of these experimental results [2][4][5], it was found that
the resulting control is discontinuous and the chattering phenomenon which can leads to low accuracy in control system.
These problems can be solved by replacing a continuous
control [4][5] into the computation of the control input (a sign
function). As a result, the large error behavior of a system is
identical to that with discontinuous control. It can be assumed
that, the behavior of the system in small error region as a
high gain system and this is similar to that of system with
discontinuous control. Hence, this high gain effect of sliding
mode control based on VSS, suppressed the uncertainties due
to parametric variations, external disturbances and variable
payloads [5]. Besides that the proper selection of the switching
functions will avoid chattering problem in the DC drive
systems, hence result in high accuracy control. The choice
of switching functions to control the system states, such that
current, speed or position has been discussed and examined
in detail in literature [7]. In Is], the control of a permanent
magnet synchronous motor under sliding mode controller has
been presented which uses a hyperbolic tangent switching
function in order to overcome the chattering problem. Under
this control strategy, the dynamic performance of the system
can be shaped according to the system specification by an
appropriate choice of switching function.
It is well known, that the sliding mode control is a popular
robust control method. However it has a reaching phase problem and an input chattering problem (as discussed aboved).
These problems cause the sliding mode control (SMC) is very
conservative to be used with other controller design methods
because the state trajectory of the sliding mode control system
is determined by sliding mode dynamics, which cannot have
the same order dynamics of the original system. This leads to
the introduction of robust controller design with novel sliding
surface. To overcome the conservatism of the SMC, the novel
sliding surface has been used which has the same dynamics of

the nominal original system controlled by a nominal controller.

The reaching phase problem, can be eliminated, by using an
initial virtual state that makes the initial sliding function equal
to zero. Therefore, it is possible to use the SMC technique
with various types of controller. The proposed controller
design with novel sliding surface is discussed in detail in [9].
Besides that, as discussed in [lo], although SMC systems are
qualitatively well known for possessing robust performance,
the quantitative analysis of the robustness and synthesis of the
control system to enhance the robust performance, especially
against a step load disturbance for DC drive is necessary. The
reason why the quantitative analysis is necessary, because of
the step load application may vary due to certain factors such
as an integral action and smooth control algorithms which are
often incorporated in the practical system. In [10], the analysis
in terms of the time domain expressions of the transient speed
deviation and its maximum value due to a step load application
under sliding mode control was performed. As a result, the fast
response speed and robust performances can be achieved.
The organization of the paper is as follow: The system
description is given in Section II while Section III describes
sliding surfaces, design and implementation issues. Simulation
results of speed control of DC motor are included in Section
IV and conclusions are summarized in Section V.
II. M ATHEMATICAL MODEL OF

A TYPICAL

Unit
V
rpm
mA
rpm
mN m
A
A
%
mN m

mH
mN m/A
rpm/V
rpm/mN m
ms
gcm2
-

(2)

e =

0.5 103
3 1.10

(3)

e = 151.51 106

(4)

The term m is calculated using

m =

3R J
= 0.0161
Kg Kt

(5)

Ke =

3R J
= 0.06902
m Kt

(6)

where Ke is

Thus the model of the DC motor in the form of transfer

function is
14.48
(7)
G(s) =
2.44 106 s2 + 0.0161s + 1
III. S LIDING

MODE CONTROL

The model of the DC motor, in general form is,

Y (s)
K
=
U (s)
m e s2 + (m )s + 1

(8)

Y (s)[m e s2 + (m )s + 1] = KU (s)

(9)

or
Taking inverse Laplace, the equation in time domain form is
m e y(t) + (m )y(t)
+ y(t) = Ku(t)

TABLE I
PARAMETERS OF BLDC M OTOR
Data
Nominal voltage
No load speed
No load current
Nominal speed
Torque
Nominal current
Starting current
Max. efficiency
Stall Torque
Terminal Resistance
Terminal Inductance
Torque Constant
Speed Constant
Speed/torque gradient
Mechanical time constant
Rotor Inertia
No. of phase

L
3R

e =

DC MOTOR

The BLDC motor provided for this paper is the EC 45

flat 45 mm, brushless, 30 Watt from Maxon motors [12].
The parameters used in the modeling are extracted from the
datasheet of this motor with corresponding relevant parameters
used. Find below in Table I the major extracted parameters
used for the modeling task. The mathematical model of the

Sr. No.
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
14.
15.
16.
17.

The term e is calculated using

or
y(t) =

Value
12
1200
151
1200
59
2.14
10
77
255
1.1
0.5
24.5
35.4
17.6
16.1
82.5
3

(10)

1
[(m )y(t)
y(t) + Ku(t)]
m e

(11)

The sliding surface used by Camacho [2] is

(t) = 1 e(t) + 0

e(t)dt +
0

d
e(t)
dt

(12)

where, 1 = 2 and 0 = 2 and is a tuning parameter,

which helps to define the sliding surface. The derivative of 12
is
(t)

= 1 e(t)
+ 0 e(t) + e(t)
(13)
The error is e(t) = r(t) y(t), Thus above Eq. 13 can be
written as
(t)

= 1 [r(t)
y(t)]

+ 0 e(t) + r(t) y(t) = 0

BLDC motor is modelled on the parameters from table given

above.
G(s) =

1/Kg
m e s2 + m s + 1

(1)

where Kg , m and e are the constants and need to calculated.

We know, from Eq. 11, y(t) =

Ku(t)]
1 [r(t)

y(t)]+

r(t)
0 e(t)+

m e [(m )y(t)

(14)

y(t) +

1
[(m )y(t)y(t)+Ku(t)]

= 0.
m e
(15)

The Equivalent controller ueq (t) can be obtained from above

Eq. 15 and given as,



m e
1
y(t)
1 y(t)
+ 0 e(t) + r(t) + 1 r(t)

= 0.
+
K
e
m e
(16)
The ueq (t) can be simplified by considering
1
e

1 =

(17)

It has been shown that this choice for 1 is the best for the
continuous part of the controller [2]. To assure that the sliding
surfaces behave as a critical or over-damped system, 0 should
be
2
(18)
0 1
4
The switching controller is taken as
usw (t) = Kd

(t)
|(t)| +

(19)
Fig. 1.

Simulink Block of Equivalent Control Law

Fig. 2.

Simulink Block of Switching Control Law

As we know, derivative of reference signal of setpoint is zero,

that is r(t)
= r(t) = 0. The Total control law is
u(t) = ueq (t) + usw (t)


m e y(t)
(t)
u(t) =
+ 0 e(t) + Kd
K
m e
|(t)| +
where,
Kd =

0.51
|K|

td

0.76

(20)
(21)

(22)

and
= 0.68 + 0.12|K|KD 1

(23)

IV. I MPLEMENTATION AND R ESULTS

A DC motor is used in simulation to obtain the results of
sliding mode control. The results show the effectiveness of
the proposed controller and this results are compared with
conventional PID controller. M athworksT M MATLAB 7.0.1
is used for simulation. The systems considered are of higher
order with time delay. The simulink block of equivalent control
law is shown in Fig. 1 and that of switching control is in Fig.
2.
It is clear, form Fig. 1 that the inputs to the equivalent
control law are error signal, reference input signal and output
signal. The switching control law is taken as
(24)

with Kd = 0.8312 and = 1.2917. The simulink block of

switching control law is shown in Fig. 2. The parameters of
the PID controller are obtained using Zeiglar-Nicholas method.
The PID controller is given by
1381.34
KI
+ KD s = 11.327 +
+ 0.0232s
s
s
The performance of the SMC and PID controller in terms
of output responses, input responses, error signals is shown
in Fig. 3,Fig. 4 and Fig. 5 respectively. The sliding surface is

Gc (s) = KP +

PID Controller
SMC
1.2

Output signal

(t)
usw (t) = Kd
|(t)| +

1.4

0.8

0.6

0.4

0.2

0.02

0.04

0.06

Fig. 3.

0.08

0.1
Time in seconds

0.12

Output Responses

0.14

0.16

0.18

0.2

1.4

PID Controller
SMC

PID Controller
SMC
0.8

1.2

0.6
1

0.2

Output signal

Control Signal

0.4

0.8

0.6

0.2
0.4

0.4

0.6
0.2

0.8

0.02

0.04

0.06

Fig. 4.

0.08

0.1
Time in seconds

0.12

0.14

0.16

0.18

0.2

0.02

0.04

0.06

Fig. 7.

Input Responses

0.08

0.1
Time in seconds

0.12

0.14

0.16

0.18

0.2

Output Responses

12

14

x 10

PID Controller
SMC

1.2
PID Controller
SMC

12

1
10
0.8

Control Signal

Control Signal

0.6

0.4

0.2

0
0

2
0.2

0.02

0.04

0.06

Fig. 5.

0.08

0.1
Time in seconds

0.12

0.14

0.16

0.18

0.02

0.04

0.06

Fig. 8.

Error Responses

0.08

0.1
Time in seconds

0.12

0.14

0.16

0.18

0.2

Input Responses

shown in Fig. 6. It is clear from the output responses that both

controller gives satisfactory resposne while the control effort
by PID controller, that is control signal shown in Fig. 4 by
PID controller is non-smooth while those by SMC is smooth.
In order to check the controller performance, the output
disturbance d = 0.5r is added at time t = 0.1sec. The
output, input and error signal is shown in Fig. 7-9. It is clear
from Fig. 8 that the PID controller can not be used as its signal
goes to very high value whenever disturbance occurred.

100

90

80

70

60
Sliding Surface

0.2

50

40

30

V. CONCLUSIONS

20

10

10

0.02

0.04

0.06

Fig. 6.

0.08

0.1
Time in seconds

0.12

Sliding Surface

0.14

0.16

0.18

0.2

This paper has presented a sliding surface approach for

the speed control of DC motor. The advantage of sliding
mode approach is that it gives smooth controller action. It
has been shown that the performance of the PID controller
is comparable in terms of output of the system, but when
it comes under the consideration of the controller action,
the action given by the PID controller is continuously zig-

[11] EL Sharkawi M and Huang C., Variable structure tracking of DC motor

for high performance applications. IEEE Trans. on Energy Conversion,
V 4, 1989, pp. 643-650.
[12] Maxon Ec motor , May 2008 Edition, EC 45 flat 45 mm, brushless, 30
watt maxon flat motor.
[13] O. Camacho, R. Rojas, V. G. Gabin, Some long time delay sliding mode
control approaches, ISA Transactions, vol. 46, 2007 pp 95-101.

1.2
PID Controller
SMC
1

Error Signal

0.8

0.6

0.4

0.2

0.2

0.02

0.04

0.06

0.08

Fig. 9.

0.1
Time in seconds

0.12

0.14

0.16

0.18

0.2

Error Responses

zag pattern. Again in case of output disturbances, the sliding

mode gives the feasible action of the while the PID controller
gives very high signal which can not be implementable in real
applications. The SMC gives advantage of robustness against
disturbances wither it is in input side or output side of the
system. In case of unmeasurable disturbances, SMC is more
capable and gives satisfied performance. Simulation results
show that the proposed sliding mode control strategy produces
satisfactory results with less and smooth control efforts and is
effective and promising in the control of uncertain time delay
systems.
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1992 .
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