The performance of an electromechanical system not only depends on its controller design, but also on the design of its mechanical structure. In order to achieve the excellent performance of the four-bar-link mechanism by employing the simple PD control, we redesign the structure of the four-bar-link mechanism by a mass-redistribution scheme to simplify the dynamic model. Theoretically, we analyze the stability of the closed-loop system consisting of the PD controller and several kinds of four-bar-link mechanisms, and discuss the relations between the performance of the PD controller and its gains and the mechanical design. The obtained results show that the performance of the PD controller may be significantly improved by using the methodology of Design For Control (DFC). The effectiveness of the proposed methodology has also been verified by some simulation studies.
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December 2002
Technical Papers
Integrated Design and PD Control of High-Speed Closed-loop Mechanisms
F. X. Wu,
F. X. Wu
Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada
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W. J. Zhang,
W. J. Zhang
Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada
**
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Q. Li,
Q. Li
School of Mechanical and Production Engineering, Nanyang Technological University, 50 Nanyang Ave., Singapore
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P. R. Ouyang
P. R. Ouyang
Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada
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F. X. Wu
Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada
W. J. Zhang
**
Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada
Q. Li
School of Mechanical and Production Engineering, Nanyang Technological University, 50 Nanyang Ave., Singapore
P. R. Ouyang
Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, Nov. 2000; final revision, April 2002. Associate Editor: C. Rahn.
J. Dyn. Sys., Meas., Control. Dec 2002, 124(4): 522-528 (7 pages)
Published Online: December 16, 2002
Article history
Received:
November 1, 2000
Revised:
April 1, 2002
Online:
December 16, 2002
Citation
Wu, F. X., Zhang, W. J., Li, Q., and Ouyang, P. R. (December 16, 2002). "Integrated Design and PD Control of High-Speed Closed-loop Mechanisms ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 522–528. https://doi.org/10.1115/1.1513179
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