MODELING AND ROBUST CONTROL OF VIBRATIONS IN A FLEXIBLE FOUR-BAR MECHANISM
ASME 1998 International Mechanical Engineering Congress and Exposition, IMECE 1998, California, Amerika Birleşik Devletleri, 15 - 20 Kasım 1998, cilt.1998-AD, ss.75-83, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Cilt numarası: 1998-AD
- Doi Numarası: 10.1115/imece1998-0403
- Basıldığı Şehir: California
- Basıldığı Ülke: Amerika Birleşik Devletleri
- Sayfa Sayıları: ss.75-83
- Ankara Yıldırım Beyazıt Üniversitesi Adresli: Hayır
Özet
© 1998 American Society of Mechanical Engineers (ASME). All rights reserved.Dynamic modeling and controller design for a flexible four-barmechanism is studied. The fully coupled nonlinear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the systemresponse. A linearized dynamic model is developed which facilitates design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD and a robust μ-synthesis controller are shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.