Nonlinear Modeling of Linkage Mechanism with Clearances and Precise Control

Abstract:

In the practice of mechanical systems, all kinds of motion pair have the clearance exercise. With high-speed, precision machinery and instruments are proposed higher and higher demands for precision , The nonlinear effect of mechanism clearance can not be neglected. As the mechanism with clearance is a strong non-linear systems, System modeling is very complicated, it is difficult to establish a more accurate model , using Linkage mechanism with clearance example to set up a mathematical model, proposed a new method of establishing such models, and construct an inverse model for the Linkage mechanism, and Open-loop with inverse model feed-forward compensator control was firstly performed to compensate Linkage. The results of test show that：This new modeling method greatly reduced the difficulty of solving problems and has higher precision; this inverse model feed-forward compensator has effectively reduced the non-linear error of the system and has improved the control precision of Linkage mechanism.

• Periodical: Advanced Materials Research (Volumes 308-310)
• Pages: 1918-1922
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.308-310.1918
• Online since: August 2011
• Authors: Wei Min Zhou, Shao Wen Xue, Xiang Jiang Wang
• Keywords: Clearances, Feed-Forward Compensator, Linkage Mechanism, Nonlinear, PID Control

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