含间隙曲柄滑块机构运动误差分析及其精确控制  

Error Analysis of Motion of Slider-crank Mechanism with Clearances and Precise Control

作　　者：薛邵文[1] 王湘江[1] 

机构地区：[1]南华大学机械工程学院,湖南衡阳421001

出　　处：《现代机械》2011年第1期24-27,共4页Modern Machinery

基　　金：湖南省自然科学基金资助项目(10JJ5054)

摘　　要：为了研究运动副间隙的存在对机构的稳定性产生的影响,本文采用了动力学分析的方法,以含间隙曲柄滑块机构为例建立了数学模型,从影响机构精度的不同原因入手,分析机械的误差来源及特征。并对曲柄滑块机构进行了非线性分析后,对其建立了逆模型,并分别进行了有逆模前馈的开环控制和PID加逆模前馈的闭环控制来控制不稳定性。实验结果表明:利用MATLAB软件中的动态仿真工具Simulink建立的含间隙机构动力学仿真模型,与理想无间隙机构相比,含间隙机构稳定性较差;逆模前馈补偿器有效地减小了系统的非线性误差,提高了曲柄滑块机构的控制精度。In order to study the existence of motion pair clearance impact of the stability of mechanism,in this paper,dynamic analysis method using slider-crank mechanism with clearance example to set up a mathematical model,from the influence of different reasons of mechanism,analysis machinery and origin of the error of characteristic.Construct an inverse model for the slider-crank mechanism after the non-linear of mechanism was studied,and open-loop with inverse model feed-forward compensator control was firstly performed to compensate slider-crank.Compared with the open-loop control,PID plus inverse model feed-forward control were also studied in closed-loop control system.The results of test show that：based on simulink a new method is proposed for simulating linkage mechanisms with clearances,compared with ideal mechanisms,mechanisms with clearances are less stable;this inverse model feed-forward compensator has effectively reduced the non-linear error of the system and has improved the control precision of slider-crank mechanism.

关 键 词：间隙 曲柄滑块机构 误差 PID控制 前馈补偿器 

分 类 号：TH113[机械工程—机械设计及理论] TP13[自动化与计算机技术—控制理论与控制工程]