Type of Document Master's Thesis Author Carlson, Stephen O. URN etd-11092012-040328 Title Adaptive control of a four-bar linkage Degree Master of Science Department Mechanical Engineering Advisory Committee
Advisor Name Title Leonard, Robert G. Committee Member Myklebust, Arvid Committee Member Robertshaw, Harry H. Committee Member Keywords
- Kinematics of.
Date of Defense 1985-04-05 Availability restricted Abstract
Three discrete-time adaptive controllers are developed and applied to Four-bar linkage velocity control to reduce the input link velocity fluctuations without compromising the control system velocity transient response. The successful control techniques use the known mechanism kinematics and the mechanism input link position to control the nonlinear mechanism dynamics. The study shows that the adaptive controls are feasible to implement using current microprocessor technology, and the velocity control performance is improved when compared to an industry-standard analog servomotor control. However, more development is required to realize the full potential of the adapative control technique.
A nonlinear Four-bar dynamic model is developed using Kinematic Influence Coefficients. This model is used to develop the adaptive controls and to computer simulate the control scheme performances. The simulated model velocity response is compared qualitatively to experimental data and shown to be similar to an experimental device.
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