Integral sliding-mode control of phase shift for two-rotor vibration setup

This paper focuses on developing and studying a phase shift control system for a two-rotor vibration mechatronic setup. The controller serves to maintain the desired revolving speed of the unbalanced rotors and the desired phase shift between them. The sliding mode motion is achieved using an integral relay controller in the phase loop, while PI controllers are employed in the velocity control loops. The numerical study, simulations, and experiments are performed using the Mechatronic Vibration Setup SV-2M. The velocity and phase shift control laws are studied, and the possibility of asymptotic sliding mode occurrence in the phase shift loop is examined through analytical and numerical analysis. The simulation and experimental results confirm the asymptotic emergence of sliding mode motion and demonstrate the dynamical properties of the closed-loop system.