Sliding-Mode Control of Phase Shift for Two-Rotor Vibration Setup.

This paper successfully developed and studied a phase shift control system for a two-rotor vibration mechatronic setup, aiming to maintain the desired revolving speed of the rotors. The sliding mode motion was achieved by utilizing a relay controller in the phase loop, while PI controllers were employed in the velocity control loops. Through numerical study and simulations using the parameters of the Mechatronic Vibration Setup SV-2M, the effectiveness of the proposed velocity and phase shift control laws was demonstrated. The possibility of sliding mode occurrence in the phase shift loop was examined through analytical and numerical analysis, confirming its presence. The relationship between the relative degree of the transfer function of the plant and the possibility of the occurrence of a sliding mode is analyzed based on the locus of a perturbed relay system approach. Simulation results indicated that sliding mode motion appeared after a finite transient time and showcased the dynamical properties of the closed-loop system. In conclusion, the findings of this study validate the efficacy of the phase shift control system in achieving the desired rotor speed and demonstrate the feasibility of implementing sliding mode motion in the mechatronic setup.