Skip to main content
Springer Nature Link
Log in

Modeling and control of hybrid machine systems — a five-bar mechanism case

  • Published:
International Journal of Automation and Computing Aims and scope Submit manuscript

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. R. M. Murray, K. J. Astrom, S. P. Boyd, R. W. Brockett, G. Stein. Future Directions in Control in an Information-Rich World. IEEE Control Systems Magazine, vol. 23, no. 2, pp. 20–33, April 2003.

    Article  Google Scholar 

  2. L. Tokuz. Hybrid Machine Modelling and Control. Ph.D. dissertation, Liverpool John Moores University, Liverpool, UK, 1992.

    Google Scholar 

  3. A. Kirecci. Motion Design for High Speed Machines. Ph.D. dissertation, Liverpool John Moores University, Liverpool, UK, 1993.

    Google Scholar 

  4. W. K. Bradshaw. Control of Hybrid Machines. Ph.D. dissertation, Liverpool John Moores University, Liverpool, UK, 1997.

    Google Scholar 

  5. Z. Yuan. Design and Control of Hybrid Machines. Ph.D. dissertation, Liverpool John Moores University, Liverpool, UK, 2000.

    Google Scholar 

  6. F. H. Ghorbel, O. Chetelat, R. Gunawardam, R. Longchamp. Modeling and Set Point Control of Closed-Chain Mechanisms: Theory and Experiment. IEEE Transactions On Control Systems Technology, vol. 8, no. 5, pp. 801–815, 2000.

    Article  Google Scholar 

  7. H. Yu, Z. Yuan, M. J. Gillmartin, S. Lloyd. Modelling and Control of a Slider Hybrid Seven-bar System. International Association of Science and Technology for Development (IASTED) International Conference on Robotics and Applications, Santa Barbara, CA, USA, pp. 319–323, October 28–30, 1999.

  8. H. Yu, M. Deng, M. J. Gilmartin, T. C. Yang. Full Dynamic Model of a Hybrid Seven-bar System. In Proceedings of Third World Manufacturing Congress, CD ROM, Rochester, NY, USA, September 24–27, 2001.

  9. M. Deng, H. Yu, M. J. Gilmartin, T. C. Yang. Lagrangian Dynamics and Analysis of a Hybrid Linkage System. International Journal of Computers, Systems and Signals, vol. 2, no. 1, pp. 54–70, 2001.

    Google Scholar 

  10. P. R. Ouyang, Q. Li, W. J. Zhang, L. S. Guo. Design, Modeling and Control of a Hybrid Machine System. Mechatronics, vol. 14, no. 10, pp. 1197–1217, 2004.

    Article  Google Scholar 

  11. Z. Yuan, M. J. Gilmartin, S. S. Douglas. Optimal Mechanism Design for Path Generation and Motions with Reduced Harmonic Content. Journal of Mechanical Design, vol. 126, no. 1, pp. 191–196, 2004.

    Article  Google Scholar 

  12. Q. Li, F. X. Wu. Control Performance Improvement of a Parallel Robot via the Design for Control Approach. Mechatronics, vol. 14, no. 8, pp. 947–964, 2004.

    Article  MathSciNet  Google Scholar 

  13. F. X. Wu, W. J. Zhang, Q. Li, P. R. Ouyang, Z. X. Zhou. Control of Hybrid Machines with 2-DOF for Trajectory Tracking Problems. IEEE Transactions on Control Systems Technology, vol. 13, no. 2, pp. 338–342, 2005.

    Article  Google Scholar 

  14. R. Ortega, A. Loria, P. J. Nicklasson, H. Sira-Ramirez. Passivity-based Control of Euler-Lagrange Systems. Springer-Verlag, London, 1998.

    Google Scholar 

  15. H. Yu, S. Lloyd, Variable Structure Adaptive Control of Robot Manipulators. IEE Proceeding — Control Theory Applications, vol. 144, no. 2, pp. 167–176, 1997.

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST16 9DG, UK

    Hongnian Yu

Authors
  1. Hongnian Yu
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Hongnian Yu.

Additional information

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.

Rights and permissions

Reprints and permissions

About this article

Cite this article

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

Download citation

  • Received:

  • Revised:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11633-006-0235-1

Keywords