Adaptive control of slider-crank mechanism motion: Simulations and experiments

Faa Jeng Lin, Rong Fong Fung, Yueh Shan Lin

研究成果: 雜誌貢獻期刊論文同行評審

20 引文 斯高帕斯(Scopus)

摘要

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.

原文???core.languages.en_GB???
頁(從 - 到)1227-1238
頁數12
期刊International Journal of Systems Science
28
發行號12
DOIs
出版狀態已出版 - 7月 1997

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