Constant Speed Control of Slider-Crank Mechanisms: A Joint-Task Space Hybrid Control Approach

被引：13

作者：

Flores-Campos, Juan Alejandro ^{[1
]}

Perrusquia, Adolfo ^{[2
]}

Hernandez-Gomez, Luis Hector ^{[3
]}

Gonzalez, Noe ^{[3
]}

Armenta-Molina, Alejandra ^{[3
]}

机构：

[1] IPN, UPIITA, Mexico City 07340, DF, Mexico

[2] Cranfield Univ, Sch Aerosp Transport & Mfg, Bedford MK43 0AL, England

[3] Inst Politecn Nacl, ESIME Unidad Zacatenco, Secc Estudios Posgrad & Invest, Unidad Profes Adolfo Lopez Mateos, Mexico City 07738, DF, Mexico

来源：

IEEE ACCESS | 2021年 / 9卷

关键词：

Aerospace electronics; Switches; Task analysis; Control systems; Torque; Jacobian matrices; Velocity control; Slider-crank mechanism; singularity points; sliding mode control; time-based generator; constant cutting speed; switching criterion; OUTPUT MOTION CHARACTERISTICS; SIMULATION; CLEARANCE; DESIGN;

D O I：

10.1109/ACCESS.2021.3073364

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：65676 / 65687

页数：12

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