An Iterative Parameter Tuning Method for Robot Joint Motor’s Sliding Mode Controller

Parameters tuning of robot joint motor’s controller is the key for realizing good control performance. This paper presents an iterative parameter tuning method for a joint motor’s sliding mode controller. First, a permanent magnetic synchronous joint motor is designed, and the control object of the system is determined. Secondly, the sliding-mode PID control system that combined the PID current controller with the sliding mode speed controller is designed. The sliding mode controller’s parameters are set initially with engineering design methods, also a redundant controller is added and its parameters are also set by using engineering design methods. The system output speed under the redundant PI speed controller and sliding mode speed controller is used as the iterating variables, the parameters of the controllers are obtained via iteration. Finally, the MATLAB/Simulink simulation has been conducted, the obtained results have shown that the proposed method is effective and feasible.