Constant Speed Control of Slider-Crank Mechanisms: A Joint-Task Space Hybrid Control Approach
نویسندگان
چکیده
In this paper, a constant speed control of slider-crank mechanisms for machine tools is proposed. A joint-task space hybrid controller based on second-order sliding mode and time-base generator was used to guarantee trajectory tracking complete turn the mechanism crank. switching criterion implemented in order avoid singularities located at two extreme positions slider stroke. trapezoidal profile with parabolic blends designed directly over task considering cutting speed, workpiece dimensions stroke length. Stability validated Lyapunov stability theory. Simulations were carried out verify approach.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3073364