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VIBRATION CONTROL OF A FOUR-BAR MECHANISM WITH A FLEXIBLE COUPLER LINK

✍ Scribed by M. Karkoub; A.S. Yigit

Publisher
Elsevier Science
Year
1999
Tongue
English
Weight
232 KB
Volume
222
Category
Article
ISSN
0022-460X

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✦ Synopsis

Dynamic modelling and controller design for a Β―exible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting dierential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates the 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 controller is designed based on a linearized model. These gains are subsequently tuned using the actual model to achieve the desired response. The resultant controller is shown to be ecient in suppressing the vibrations of the Β―exible link as well as controlling the rigid body motion.

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