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Titolo:
A hybrid computed torque controller using fuzzy neural network for motor-quick-return servo mechanism
Autore:
Lin, FJ; Wai, RJ;
Indirizzi:
Chung Yuan Christian Univ, Dept Elect Engn, Chungli 320, Taiwan Chung YuanChristian Univ Chungli Taiwan 320 t Engn, Chungli 320, Taiwan Yuan Ze Univ, Dept Elect Engn, Chungli 320, Taiwan Yuan Ze Univ Chungli Taiwan 320 iv, Dept Elect Engn, Chungli 320, Taiwan
Titolo Testata:
IEEE-ASME TRANSACTIONS ON MECHATRONICS
fascicolo: 1, volume: 6, anno: 2001,
pagine: 75 - 89
SICI:
1083-4435(200103)6:1<75:AHCTCU>2.0.ZU;2-N
Fonte:
ISI
Lingua:
ENG
Soggetto:
SLIDER-CRANK MECHANISM; SLIDING-MODE; ADAPTIVE-CONTROL; ROBOT MANIPULATORS; NONLINEAR-SYSTEMS; DYNAMIC ANALYSIS; FLEXIBLE ROD; DRIVE;
Keywords:
computed torque control; fuzzy neural network; permanent magnet synchronous servo motor; quick-return mechanism; uncertainty observer;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
38
Recensione:
Indirizzi per estratti:
Indirizzo: Lin, FJ Chung Yuan Christian Univ, Dept Elect Engn, Chungli 320, Taiwan Chung Yuan Christian Univ Chungli Taiwan 320 Chungli 320, Taiwan
Citazione:
F.J. Lin e R.J. Wai, "A hybrid computed torque controller using fuzzy neural network for motor-quick-return servo mechanism", IEEE-A T M, 6(1), 2001, pp. 75-89

Abstract

The dynamic response of a hybrid computed torque controlled quick-return mechanism, which is driven by a permanent magnet (PM) synchronous servo motor, is described in this paper, The crank and disk of the quick-return mechanism are assumed to be rigid. First, Hamilton's principle and Lagrange multiplier method are applied to formulate the mathematical model of motion. Then, based on the principle of computed torque control, a position controller is designed to control the position of a slider of the motor-quick-returnservo mechanism, In addition, to relax the requirement of the lumped uncertainty in the design of a computed torque controller, a fuzzy neural network (FNN) uncertainty observer is utilized to adapt the lumped uncertainty online. Moreover, a hybrid control system, which combines the computed torque controller, the FNN uncertainty observer, and a compensated controller, is developed based on Lyapunov stability to control the motor-quick-return servo mechanism. The computed torque controller with FNN uncertainty observer is the main tracking controller, and the compensated controller is designed to compensate the minimum approximation error of the uncertainty observer instead of increasing the rule numbers of the FNN. Finally, simulated andexperimental results due to periodic step and sinusoidal commands show that the dynamic behaviors of the proposed hybrid computed torque control system are robust with regard to parametric variations and external disturbances.

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Documento generato il 05/04/20 alle ore 08:39:24