Abstract

SUAREZ-CALDERON, Juan Carlos et al. Cancellation of inertial effects in 1 degree of freedom mechanisms applying sliding mode control with response in finite time. Ing. invest. y tecnol. [online]. 2023, vol.24, n.2.  Epub May 19, 2023. ISSN 2594-0732.  https://doi.org/10.22201/fi.25940732e.2023.24.2.016.

Canceling the effects generated by inertia in the mechanisms is a complicated task with great benefits, such as reducing the chattering effect and, in turn, energy consumption. This paper proposed a control method for electromechanical systems with one degree of freedom. The proposed method guarantees robustness, reaching a desired position in a finite time through the application of a control law using sliding modes with Time Base Generator (TBG) and the cancellation of the effects produced by inertia. The speed belongs to Gaussian bell-shape profile, then the speed has a normal distribution from energy used during the displacement, which allows the control algorithm to be applied in tasks such as feeding parts in processes that require precision or in painting processes, since the behavior of the speed is similar to the speed of the human limbs. The contribution is a robust control algorithm that can be adapted to any one degree of freedom mechanism that has the task of reaching a position in a specific time, the time begin determined by the user. The algorithm eradicates speed fluctuations, so over-acceleration is zero and disturbances generated by loads applied to the mechanism are also compensated.

Keywords : Chattering free; inertial effects; sliding modes; time base generator; one degree of freedom mechanism.

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