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Constant Speed Control of Slider-Crank Mechanisms: A Joint-Task Space Hybrid Control Approach
- Source :
- IEEE Access, Vol 9, Pp 65676-65687 (2021)
- Publication Year :
- 2021
- Publisher :
- IEEE, 2021.
-
Abstract
- In this paper, a constant speed control of slider-crank mechanisms for machine tools is proposed. A joint-task space hybrid controller based on a second-order sliding mode control and time-base generator was used to guarantee a constant speed trajectory tracking and a complete turn of the mechanism crank. A switching criterion was implemented in order to avoid the singularities located at the two extreme positions of the slider stroke. A trapezoidal speed profile with parabolic blends was designed directly over task space slider trajectory considering a constant cutting speed, the workpiece dimensions and the slider stroke length. Stability of the second-order sliding mode control was validated with the Lyapunov stability theory. Simulations were carried out to verify this approach.
Details
- Language :
- English
- ISSN :
- 21693536
- Volume :
- 9
- Database :
- Directory of Open Access Journals
- Journal :
- IEEE Access
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.f4bddd078a3a4378bf699b8870b8b8e4
- Document Type :
- article
- Full Text :
- https://doi.org/10.1109/ACCESS.2021.3073364