The Dynamics And Control Design Of Planar Four-bar Mechanism

Mechatronics is widely used in modern industry. It accelerates the course of automation availably and influences the development of every walk of life. The design method determines the quality of products. How to improve the design method for improving the quality of products is concerned intensively.In the past, to eliminate the influence of system's speed fluctuation on the mechanical performance was emphasized in the field of mechanical design. Although speed fluctuation was controlled well under some measurements, the fluctuation of inputting torque became worse perhaps. It can cause negative influence such as system vibration, noises and instability. The reduction of fluctuation of speed and inputting torque as well is of benefit to the design of controller and reduction the load of electrical motor. Therefore the study of reducing of the fluctuations of speed and inputting toque synchronously is of important in theory and practice.The main content of this thesis is as follows:1. The system of electric motor and four-bar linkages is modeled and simulated firstly. The results show that there exists a great fluctuation both in speed and inputting torque, it may have some bad effects on the system.2. How to reduce the fluctuation, of speed and the fluctuation of inputting torque of the system is discussed then.(1) Some controllers are designed to reduce the fluctuation of speed and the fluctuation of inputting torque of the system. The controller's modulation is available for the fluctuation of speed only, but it is very little to the fluctuation of inputting torque or worse.(2) Mass-distribution of the mechanism according to the balance inertia force and inertia moment, the fluctuation of speed and the inputting torque of the electric motor -mechanism may be reduced greatly. But the peak of inputting torque still remaines at high value.(3) With the idea to optimize of equivalent moment of inertia, the...