PC-based pseudo-model following discrete integral variable structure control of positions in slider-crank mechanisms
نویسندگان
چکیده
This paper proposes a pseudo-model following (PMF) discrete integral variable structure control (DIVSC) scheme to control the position of a slider crank coupled with a pseudo-model (PM) synchronous motor. Applying the Grey modeling method, the reference model and plant are on-line converted to pseudo-reference model and accumulated model, respectively. The advantage is that the least data and memory are used in this modeling procedure. The DIVSC is introduced to guide the model following motion. The integral controller is used to reduce the steady-state error. The switching controller is used to finish the sliding motion. The two existing condition of the discrete sliding mode are introduced in this paper, too. Finally, the position control of the slider crank is used to show the performance of the proposed control scheme. The simulation and experimental results show the robustness and the practicability. r 2006 Elsevier Ltd. All rights reserved.
منابع مشابه
Nonlinear Dynamics and Control of Crank-Slider Mechanism with Multiple Clearance Joints
In the current study, behavior of crank-slider mechanism with single and multiple clearance joints are analyzed. Using Lankarani-Nikravesh theory for estimating discontinuous contact forces in clearance joints, relevant systems have been mathematically modeled. Through numerical simulations, perturbations in response of mechanisms with clearance joints have been analyzed. Effects of increasing ...
متن کاملDiscrete-Time Immersion and Invariance Adaptive Control of a Slider-crank Mechanism
A discrete-time adaptive nonlinear control procedure is developed based on immersion and invariance control, and using back-stepping for the regulation of slider-crank system. A convenient parametric formulation of the system dynamics is established. A novel parameter estimator design is presented, and the back-stepping controller is constructed considering the certainty equivalence principle.
متن کاملPareto Optimal Multi-Objective Dynamical Balancing of a Slider-Crank Mechanism Using Differential Evolution Algorithm
The present paper aims to improve the dynamical balancing of a slider-crank mechanism. This mechanism has been widely used in internal combustion engines, especially vehicle engines; hence, its dynamical balancing is important significantly. To have a full balance mechanism, the shaking forces and shaking moment of foundations should be eliminated completely. However, this elimination is usuall...
متن کاملMechatronic Redesign of Slider Crank Mechanism
Mechatronic design efforts have been and continue to be heavily investigated in the development of robotic manipulator arms. However, little effort has been devoted to mechatronic redesign of traditional two-dimensional mechanisms which mechanical engineers get exposure to when they study subjects such as kinematics and mechanism design. In this paper a feasibility study for controlling the mot...
متن کاملMitigation of Switching Harmonics in Shunt Active Power Filter Based on Variable Structure Control Approach
This paper presents a novel control approach used in shunt active power filter based on variable structure control combined with Random PWM technique (RVSC) that provides robust, fast, and more favorable performance for active power filter. This control strategy is compared with two other strategies to show the effectiveness of the introduced methods; pulse width modulated proportional-integral...
متن کامل