Constant speed control of slider-crank mechanisms: a joint-task space hybrid control approach

In this paper, a constant speed control of slider-crank mechanisms for machine tools is proposed. A joint-task space hybrid controller based on a second-order sliding mode control and time-base generator was used to guarantee a constant speed trajectory tracking and a complete turn of the mechanism crank. A switching criterion was implemented in order to avoid the singularities located at the two extreme positions of the slider stroke. A trapezoidal speed profile with parabolic blends was designed directly over task space slider trajectory considering a constant cutting speed, the workpiece dimensions and the slider stroke length. Stability of the second-order sliding mode control was validated with the Lyapunov stability theory. Simulations were carried out to verify this approach

Sliding Mode Control

The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area

Optimal sliding mode control for cutting tasks of quick-return mechanisms

A solution of the constant cutting velocity problem of quick-return mechanisms is the main concern of this paper. An optimal sliding mode control in the task space is used to achieve uniform and accurate cuts throughout the workpiece. The switching hyperplane is designed to minimize the position error of the slider-dynamics in an infinite horizon. A Jacobian compensator is used to exploit the mechanical advantage and ensure controllability. The velocity profile is constructed in terms of the mechanism and workpiece geometric properties. Stability of the closed-loop dynamics is verified with the Lyapunov stability theory. Experiments are carried out in a quick-return mechanism prototype to validate the proposal

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

"Available online 19 December 2017"A comprehensive survey of the literature of the most relevant analytical, numerical, and experimental approaches for the kinematic and dynamic analyses of multibody mechanical systems with clearance joints is presented in this review. Both dry and lubricated clearance joints are addressed here, and an effort is made to include a large number of research works in this particular field, which have been published since the 1960′s. First, the most frequently utilized methods for modeling planar and spatial multibody mechanical systems with clearance joints are analyzed, and compared. Other important phenomena commonly associated with clearance joint models, such as wear, non-smooth behavior, optimization and control, chaos, and uncertainty and links’ flexibility, are then discussed. The main assumptions procedures and conclusions for the different methodologies are also examined and compared. Finally, future developments and new applications of clearance joint modeling and analysis are highlighted.This research was supported in part by the China 111 Project (B16003) and the National Natural Science Foundation of China under Grants 11290151, 11472042 and 11221202. The work was also supported by the Portuguese Foundation for Science and Technology with the reference project UID/EEA/04436/2013, by FEDER funds through the COMPETE 2020 – Programa Operacional Competitividade e Internacionalização (POCI) with the reference project POCI-01-0145-FEDER-006941.info:eu-repo/semantics/publishedVersio

REMOTE CONTROL OF THE MECHATRONIC REDESIGNED SLIDER-CRANK MECHANISM IN SERVICE

Slider-crank mechanisms are used in many machines where there is a need to transform rotary motion into translation, and vice versa. Implementation of the control into a mechanical assembly of the slider-crank mechanism offers a wide range of applications of such controlled mechanism in mechatronic systems. This paper shows an example of the remote control of the angular velocity of the crank in a mechatronic redesigned slider-crank mechanism in order to achieve the desired motion of the slider. The remote control is achieved over the Internet connection and the appropriate software which is executed in the user’s internet browser. The aim of this paper is to present the applied control algorithm as well as to explain advantages of the possibility to remotely run a mechatronic redesigned slider-crank mechanism in service. This is done through an example of using a controlled slider-crank mechanism in a remote laboratory experiment

Self organizing fuzzy sliding mode controller for the position control of a permanent magnet synchronous motor drive

AbstractIn this paper, a self organizing fuzzy sliding mode controller (SOFSMC) which emulates the fuzzy controller with gain auto-tuning is proposed for a permanent magnet synchronous motor (PMSM) drive. The proposed controller is used for the position control of the PMSM drive. The performance and robustness of the control system is tested for nonlinear motor load torque disturbance and parameter variations. It has a novel gain self organizing strategy in response to the transient or tracking responses requirement. To illustrate the performance of the proposed controller, the simulation studies are presented separately for the SOFSMC and the fuzzy controller with gain auto-tuning. The results are compared with each other and discussed in detail. Simulation results showing the effectiveness of the proposed control system are confirmed under the different position changes

A Review of Control Techniques for Wind Energy Conversion System

Wind energy is the most efficient and advanced form of renewable energy (RE) in recent decades, and an effective controller is required to regulate the power generated by wind energy. This study provides an overview of state-of-the-art control strategies for wind energy conversion systems (WECS). Studies on the pitch angle controller, the maximum power point tracking (MPPT) controller, the machine side controller (MSC), and the grid side controller (GSC) are reviewed and discussed. Related works are analyzed, including evolution, software used, input and output parameters, specifications, merits, and limitations of different control techniques. The analysis shows that better performance can be obtained by the adaptive and soft-computing based pitch angle controller and MPPT controller, the field-oriented control for MSC, and the voltage-oriented control for GSC. This study provides an appropriate benchmark for further wind energy research

Analytical Solution of a Nonlinear Index-Three DAEs System Modelling a Slider-Crank Mechanism

The slider-crank mechanism (SCM) is one of the most important mechanisms in modern technology. It appears in most combustion engines including those of automobiles, trucks, and other small engines. The SCM model considered here is an index-three nonlinear system of differential-algebraic equations (DAEs), and therefore difficult to integrate numerically. In this work, we present the application of the differential transform method (DTM) to obtain an approximate analytical solution of the SCM model in convergent series form. In addition, we propose a posttreatment of the power series solution with the Padé resummation method to extend the domain of convergence of the approximate series solution. The main advantage of the proposed technique is that it does not require an index reduction and does not generate secular terms or depend on a perturbation parameter