Vibration suppression and motion control of a non-linearly coupled flexible quick-return mechanism driven by a PM synchronous servo motor

摘要

This paper studies both speed and tracking controls of a non-linear flexible quick-return mechanism driven by a permanent magnet (PM) synchronous servo motor. A flexible rod of the mechanism is divided into two regions. Each region has a time-dependent length and is modelled by the Timoshenko beam theory. The finite element method (FEM) with time-dependent length and Hamilton's principle are utilized to derive the governing equation. Variable structure control (VSC) is applied to reduce the flexible vibrations. in order to control the crank motion and suppress the motion-induced vibrations simultaneously, both speed and tracking controllers are designed by the reaching law variable structure control method. Simulation results show that the dynamic behaviour of the proposed controller-motor-mechanism system is performed to eliminate the tip deflections of the flexible rod and have a good performance. Moreover, the robustness against the external disturbances is also improved by employing the proposed control scheme. (C) 1998 Academic Press Limited. [References: 27]