In this paper, an adaptive dynamic PID sliding surface based second-order fault-tolerant sliding mode controller for speed control of an electromechanical system is proposed. The paper aims to show how to utilize the robust properties of second-order adaptive dynamic sliding mode control on the problem of structural damage fault. Structural damage fault is apparently studied less than faults of actuator and sensor. Because of this reason, this study focuses on the structural damage fault. In order to solve the chattering which is the main problem of first-order/ traditional SMC, second-order controller is designed. The Lyapunov theorem is used for affirming the design and stability of the closed-loop system. Experimental results show that the control system with the proposed controller is easily implemented. Also the proposed fault-tolerant controller, concerning parametric uncertainties and disturbances, acquire suitable tracking performance and shows more robustness than the traditional SMC.

本文提出了一种基于自适应动态PID滑动面的机电系统速度控制的二阶容错滑模控制器。本文旨在说明如何利用二阶自适应动态滑模控制的鲁棒性来解决结构损伤故障问题。显然，对结构损坏故障的研究少于对执行器和传感器的故障进行研究。因此，本研究着重于结构破坏断层。为了解决作为一阶/传统SMC的主要问题的抖动，设计了二阶控制器。李雅普诺夫定理用于确认闭环系统的设计和稳定性。实验结果表明，采用该控制器的控制系统易于实现。