SMC-PID hybrid control for elastic slip compensation in belt drive systems

Abstract

To address the issues of tracking accuracy degradation, increased vibration, and shortened service life caused by elastic slip in belt drive systems under dynamic loads, this paper proposes a hybrid control strategy combining sliding mode control (SMC) and adaptive PID. A dynamic model of the belt drive system incorporating elastic slip and nonlinear friction is established. A robust sliding mode controller is designed, and an adaptive PID compensator based on sliding surface parameter adaptation is introduced to adjust control parameters in real-time for elastic slip error compensation. Simulation results demonstrate that the proposed hybrid control method achieves a maximum position tracking error of only 0.12 rad and a slip error compensation rate of 65%, with smooth, chatter-free control output and excellent dynamic performance and robustness. This provides an effective control solution for high-precision belt drive systems.