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

Citation
Rf. Fung et al., FUZZY SLIDING MODE CONTROLLED SLIDER CRANK MECHANISM USING A PM SYNCHRONOUS SERVO MOTOR DRIVE, International journal of mechanical sciences, 41(3), 1999, pp. 337-355
Citations number
15
Categorie Soggetti
Mechanics,"Engineering, Mechanical
ISSN journal
00207403
Volume
41
Issue
3
Year of publication
1999
Pages
337 - 355
Database
ISI
SICI code
0020-7403(1999)41:3<337:FSMCSC>2.0.ZU;2-B
Abstract
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.