PC-based pseudo-model following discrete integral variable structure control of positions in slider-crank mechanisms

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. (c) 2006 Elsevier Ltd. All rights reserved.