TRACKING CONTROL OF THE FLEXIBLE SLIDER-CRANK MECHANISM SYSTEM UNDER IMPACT

The variable structure control (VSC) and the stabilizer design by using pole placement technique are applied to the tracking control of the flexible slider-crank mechanism under impact. The VSC strategy is employed to track the crank angular position and speed, while the stabilizer design is involved to suppress the flexible vibrations simultaneously. From the theoretical impact consideration, three approaches including the generalized momentum balance (GMB), the continuous force model (CFM), and the CFM associated with the effective mass compensation EMC are adopted, and are derived on the basis of the energy and impulse-momentum conservations. Simulation results are provided to demonstrate the performance of the motor-controller flexible slider-crank mechanism not only accomplishing good tracking trajectory of the crank angle, but also eliminating vibrations of the flexible connecting rod.