Constant speed control of slider-crank mechanisms: a joint-task space hybrid control approach

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dc.contributor.authorFlores-Campos, Juan Alejandro
dc.contributor.authorPerrusquía, Adolfo
dc.contributor.authorHernández-Gómez, Luis Héctor
dc.contributor.authorGonzález, Noé
dc.contributor.authorArmenta-Molina, Alejandra
dc.date.accessioned2021-05-21T15:35:56Z
dc.date.available2021-05-21T15:35:56Z
dc.date.issued2021-04-15
dc.description.abstractIn this paper, a constant speed control of slider-crank mechanisms for machine tools is proposed. A joint-task space hybrid controller based on a second-order sliding mode control and time-base generator was used to guarantee a constant speed trajectory tracking and a complete turn of the mechanism crank. A switching criterion was implemented in order to avoid the singularities located at the two extreme positions of the slider stroke. A trapezoidal speed profile with parabolic blends was designed directly over task space slider trajectory considering a constant cutting speed, the workpiece dimensions and the slider stroke length. Stability of the second-order sliding mode control was validated with the Lyapunov stability theory. Simulations were carried out to verify this approach.en_UK
dc.identifier.citationFlores-Campos JA, Perrusquía A, Gómez LH, et al., (2021) Constant speed control of slider-crank mechanisms: a joint-task space hybrid control approach. IEEE Access, Volume 9, 2021, pp. 65676-65687en_UK
dc.identifier.issn2169-3536
dc.identifier.urihttps://doi.org/10.1109/ACCESS.2021.3073364
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/16712
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectswitching criterionen_UK
dc.subjectconstant cutting speeden_UK
dc.subjecttime-based generatoren_UK
dc.subjectsliding mode controlen_UK
dc.subjectsingularity pointsen_UK
dc.subjectSlider-crank mechanismen_UK
dc.titleConstant speed control of slider-crank mechanisms: a joint-task space hybrid control approachen_UK
dc.typeArticleen_UK

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