| Autor: |
Juan Alejandro Flores-Campos, Adolfo Perrusquia, Luis Hector Hernandez-Gomez, Noe Gonzalez, Alejandra Armenta-Molina |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 9, Pp 65676-65687 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2021.3073364 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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