Abstract
A hybrid machine (HM) as a typical mechantronic device, is a useful tool to generate smooth motion, and combines the motions of a large constant speed motor with a small servo motor by means of a mechanical linkage mechanism, in order to provide a powerful programmable drive system. To achieve design objectives, a control system is required. To design a better control system and analyze the performance of an HM, a dynamic model is necessary. This paper first develops a dynamic model of an HM with a five-bar mechanism using a Lagrangian formulation. Then, several important properties which are very useful in system analysis, and control system design, are presented. Based on the developed dynamic model, two control approaches, computed torque, and combined computed torque and slide mode control, are adopted to control the HM system. Simulation results demonstrate the control performance and limitations of each control approach.
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The work was supported in part by the EPSRC research council (No. GR/M29108/01).
Hongnian Yu is a Professor of Computer Science at Staffordshire University. He was a lecturer in Control and Systems Engineering at Yanshan University, China, from 1985–1990, he conducted his Ph.D. in Robotics at King’s College London (1990–1994), and was a research fellow in Manufacturing Systems at Sussex University (1994–1996), a lecturer in Artificial Intelligence at Liverpool John Moore’s University (1996–1999), a lecturer in Control and Systems Engineering at the University of Exeter (1999–2002), and a Senior Lecturer in Computing at the University of Bradford (2002–2004). He now leads the Mobile Computing and Distributed Systems Research Group at Staffordshire University. He was a founding member of the Modelling Optimisation Scheduling and Intelligent Control research group at the University of Bradford.
He has published over 100 research papers focusing on the following: neural networks, computer networks, adaptive and robust control of robot manipulators, analysis and control of hybrid machines, control of time delayed systems, predictive control, manufacturing system modelling and scheduling, planning, and supply chains. He has extensive research experience in neural networks, mobile computing, modelling, control of robot manipulators; and modelling, scheduling, planning, and simulation of large discrete event dynamic systems with applications in manufacturing systems, supply chains, transportation networks, and computer networks.
Professor Yu is an EPSRC college member, a member of the IEEE, and a committee member for several conferences and journal editorial boards. He has held several research grants from the EPSRC, the Royal Society, and the EU, as well as from industry. He was awarded the F.C. William Premium for his paper on adaptive and robust control of robot manipulators by the IEE Council in 1997.
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Yu, H. Modeling and control of hybrid machine systems — a five-bar mechanism case. Int J Automat Comput 3, 235–243 (2006). https://doi.org/10.1007/s11633-006-0235-1
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DOI: https://doi.org/10.1007/s11633-006-0235-1