Fuzzy sliding mode controlled slider-crank mechanism using a PM synchronous servo motor drive

摘要

The dynamic response of a sliding mode controlled slider-crank mechanism, 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 andLagrange multiplier method are applied to formulate the equation of motion. Reducing the differential-algebraic equations and employing the Runge-Kutta numerical method, the state variable representation is obtained. Moreover, based on the principles ofthe 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 results show that the dynamic behavior of theproposed controller-motor mechanism system is robust to parametric variation and external disturbance.