抄録
A position servo system which operates at a constant speed is often used in a mechatronics equipment. In this paper, a sliding mode control scheme for constant speed operation is presented.
The scheme needs only the encoder signal to obtain not only the position but also the velocity with very small delay. Thus it enables to construct a fully digital sliding mode servo system with reduced chattering. Sufficient conditions to assure the existence of the sliding mode and the stable operation regardless of the initial state is derived to give the design method.
The scheme is applied to a fully digital control paper feeding servo system of a laser beam printer. The servo system has a DC servo motor and only an encoder as the transducer. The results of numerical analyses, an operation experiment, and a print experiment are given.
