TY - JOUR
T1 - Adaptive control of slider-crank mechanism motion
T2 - Simulations and experiments
AU - Lin, Faa Jeng
AU - Fung, Rong Fong
AU - Lin, Yueh Shan
PY - 1997/7
Y1 - 1997/7
N2 - The dynamic motion of an adaptive controlled slider-crank mechanism, which is driven by a permanent magnet (PM) synchronous servo-motor, is studied. First, the mathematical model of the motor-mechanism coupling system is developed, where Hamilton's principle and the Lagrange multiplier method are applied to formulate the equation of motion. Then, by using the stability analysis with inertia-related Lyapunov function, an adaptive controller for the motor-mechanism coupling system is obtained. Simulation and experimental results show that the dynamic behaviours of the proposed controller-motor-mechanism system are robust with regard to parametric variations and external disturbances.
AB - The dynamic motion of an adaptive controlled slider-crank mechanism, which is driven by a permanent magnet (PM) synchronous servo-motor, is studied. First, the mathematical model of the motor-mechanism coupling system is developed, where Hamilton's principle and the Lagrange multiplier method are applied to formulate the equation of motion. Then, by using the stability analysis with inertia-related Lyapunov function, an adaptive controller for the motor-mechanism coupling system is obtained. Simulation and experimental results show that the dynamic behaviours of the proposed controller-motor-mechanism system are robust with regard to parametric variations and external disturbances.
UR - http://www.scopus.com/inward/record.url?scp=0031361525&partnerID=8YFLogxK
U2 - 10.1080/00207729708929480
DO - 10.1080/00207729708929480
M3 - 期刊論文
AN - SCOPUS:0031361525
SN - 0020-7721
VL - 28
SP - 1227
EP - 1238
JO - International Journal of Systems Science
JF - International Journal of Systems Science
IS - 12
ER -