Modelling and Model-Based Control of a Four-Bar Mechanism with a Flexible Coupler Link

摘要

In the mechanisms and machines operating at high speeds, the elastic vibration of links is inevitable. The present paper deals with the problem of modelling and model-based controller design for a flexible four-bar mechanism. The fully coupled non-linear equations of motion are derived using the Lagrange's equations with multipliers for constrained multibody systems. The resulting differential-algebraic equations are solved using numerical methods. Based on the obtained modelling results, a simple PD controller is designed to minimize the influence of elastic link on the desired motion.