Integrated Design and PD Control of High-Speed Closed-loop Mechanisms-Reference-Cited by-同舟云学术

Integrated Design and PD Control of High-Speed Closed-loop Mechanisms

Published:2002-12-01 Issue:4 Volume:124 Page:522-528
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Wu F. X.¹,Zhang W. J.²,Li Q.³,Ouyang P. R.²

Affiliation:

1. Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada

2. Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada

3. School of Mechanical and Production Engineering, Nanyang Technological University, 50 Nanyang Ave., Singapore

Abstract

The performance of an electromechanical system not only depends on its controller design, but also on the design of its mechanical structure. In order to achieve the excellent performance of the four-bar-link mechanism by employing the simple PD control, we redesign the structure of the four-bar-link mechanism by a mass-redistribution scheme to simplify the dynamic model. Theoretically, we analyze the stability of the closed-loop system consisting of the PD controller and several kinds of four-bar-link mechanisms, and discuss the relations between the performance of the PD controller and its gains and the mechanical design. The obtained results show that the performance of the PD controller may be significantly improved by using the methodology of Design For Control (DFC). The effectiveness of the proposed methodology has also been verified by some simulation studies.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/124/4/522/5487780/522_1.pdf

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