Position control of a flexible slewing system due a sliding mode controller optimized through the  particle swarm optimization method

F. C Janzen; H. G. A Francisquetti; A. M. Tusset; J. M. Balthazar

F. C Janzen Universidade Tecnologica Federal do ParanÃ¡ Av. Monteiro Lobato, s/n - Jardim Carvalho, Ponta Grossa - PR
H. G. A Francisquetti Universidade Tecnologica Federal do ParanÃ¡ Av. Monteiro Lobato, s/n - Jardim Carvalho, Ponta Grossa - PR
A. M. Tusset Universidade Tecnologica Federal do ParanÃ¡ Av. Monteiro Lobato, s/n - Jardim Carvalho, Ponta Grossa - PR
J. M. Balthazar Universidade Tecnologica Federal do ParanÃ¡ Av. Monteiro Lobato, s/n - Jardim Carvalho, Ponta Grossa - PR

Abstract

This work has the objective to presents the control of the angular position of a flexible beam-like structure connected to the shaft of a DC (Direct Current) motor. The coupling between the flexible structure and the DC motor is considered to be non$-$ideal being that the DC motor model considers the torque created due to the beam vibration. The beam vibration considers the first vibration mode. To control the system position, a Sliding Mode Controller (SMC) is implemented, and the Particle Swarm Optimization (PSO) is used to optimize the controller gains. The optimized controller was efficient in taking the system to the position and to minimize the settling time and overshoot.