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Modelling and Control of a Slider Hybrid Seven-bar System

机译：滑块混合七杆系统的建模和控制

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摘要

A servo motor drive mechanism has many applications in modern industry. A slider hybrid sevenbar mechanism is designed for the heavey load case. The performance of a servo motor is limited by its peak torque, peak power and maximum speed. The purpose of the mechanism developed at Liverpool John Moores Univeristy is to minimise the demands on torque and power of the servo motor by optimally adjusting design parameters, while at the same time providing a range of required non-uniform output motions. To acheive this goal it is necessary to design a suitable control system. The controllers must allow the machines to operate at certain cycling speeds and to minimise the output motion trajectory errors. A kinematics and dynamics models of the slider hybrid seven-bar mechanics is also considered in this paper, The actuator dynamics is also considered in the dynamic model developmet. This model can be used for the mechanism design and the simulation study. The properties of the dynamic model are presented. These properties can be used in the controller design and the mechanism design. In addition, two control algorithms, PID control and computed torque control, are studied. The simulation results are presented.
机译：伺服电动机驱动机构在现代工业中有许多应用。滑动混合式七杆机构设计用于重载工况。伺服电动机的性能受到其峰值转矩，峰值功率和最大速度的限制。利物浦约翰摩尔大学开发的机构的目的是通过最佳地调整设计参数来最小化对伺服电机的扭矩和功率的需求，同时提供一系列所需的非均匀输出运动。为了达到这个目标，有必要设计一个合适的控制系统。控制器必须允许机器以一定的循环速度运行，并最大程度地减少输出运动轨迹误差。本文还考虑了滑杆混合式七连杆机构的运动学和动力学模型，在动力学模型开发中还考虑了执行器动力学。该模型可用于机构设计和仿真研究。提出了动态模型的属性。这些属性可用于控制器设计和机构设计中。此外，还研究了两种控制算法PID控制和计算转矩控制。给出了仿真结果。

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