FUZZY SLIDING MODE CONTROLLED SLIDER CRANK MECHANISM USING A PM SYNCHRONOUS SERVO MOTOR DRIVE

The dynamic response of a sliding mode controlled slider-crank mechani sm, which is driven by a permanent magnet (PM) synchronous servo motor , is studied in this paper. The rod and crank are assumed to be rigid. The Hamilton's principle and Lagrange multiplier method are applied t o formulate the equation of motion. Reducing the differential-algebrai c equations and employing the Runge-Kutta numerical method, the state variable representation is obtained. Moreover, based on the principles of the sliding mode control, a position controller is developed. Then , a simple fuzzy inference mechanism is utilized to estimate the upper bound of uncertainties for the sliding mode controller. Numerical res ults show that the dynamic behavior of the proposed controller-motor-m echanism system is robust to parametric variation and external disturb ance. (C) 1998 Elsevier Science Ltd. All rights reserved.