By Topic

Slider-crank mechanism control using adaptive computed torque technique

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $33
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
F. -J. Lin ; Dept. of Electr. Eng., Chung Yuan Christian Univ., Chung Li, Taiwan ; Y. -S. Lin ; S. -L. Chiu

The position control of the slider of a slider-crank mechanism, which is driven by a permanent magnet synchronous motor, using an adaptive computed torque technique, is studied. First. The mathematical model of the motor mechanism coupling system is described, where the Hamilton principle and the Lagrange multiplier method are applied to formulate the equation of motion. Next, assuming that the parameters of the system are well known according to the computed torque technique, a robust controller is designed to control the slider crank mechanism. Then, considering the existence of the uncertainties of the system, an adaptive computed torque controller is designed based on the Lyapunov stability. Moreover, to increase the execution rate of the control algorithms, a digital signal processor-based control computer is devised to control the motor mechanism coupling system

Published in:

IEE Proceedings - Control Theory and Applications  (Volume:145 ,  Issue: 3 )