Dynamic analysis and vibration control of a flexible slider-crank mechanism using PM synchronous servo motor drive

摘要

Dynamic analysis and vibration control of a flexible slider-crank mechanism driven by a permanent magnet (PM) synchronous servo motor are studied in this paper. Geometric constraint at the end of a flexible connecting rod is derived and introduced into Hamilton's principle to formulate the governing equations of the connecting rod which is modelled by Timoshenko beam theory. The coupling equations describe the rigid-body motion, flexible vibrations and motor system. In order to control crank speed and reduce flexible vibrations simultaneously, speed and tracking controllers are designed through a reaching law variable structure control (VSC) method. By choosing proper parameters in control law, dynamic responses of the flexible system in reaching mode can be controlled. Numerical results show that the proposed controllers not only eliminate the dynamic deflections of the flexible connecting rod, but also keep good tracking performances. Moreover, the robustness against external disturbances can also be improved by employing the proposed control scheme. (C) 1998 Academic Press. [References: 30]