Control of 400 Watt Belt-Drive and 400 Watt Ball-Screw Servo Systems Using Discrete-Time Variable Structure Control

Abstract This paper develops a discrete-time variable structure control method for servo drives. The objective is to achieve tungless control in industrial servo systems. The developed control method is experimentally evaluated for load variations and parameter uncertainties. Experiments are performed on typical automation applications: a 400 W servo motor with a belt-drive connection and a 400 W servo motor with a ball-screw connection. The experimental results show that the developed discrete-time variable structure controller provides better performance characteristics than the conventional commercial servo controller.