Optimizing Motion Control Systems Featuring a Four-Bar Linkage

Terry Denery The MathWorks

2007 The MathWorks, Inc.

Four-Bar Linkage Control

Build Mechanical Linkage Model

Invert Dynamics for Feed-Forward Control Apply Feedback for Linear Control Build Electrical Actuator Model Summary
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SimMechanics and CAD Translation

Define bodies Mass Center of mass Inertia tensor Form joints based on CAD assembly mates CAD partners Pro/Engineer SolidWorks

Four-Bar Linkage Control

Building Mechanical Linkage Model

Invert Dynamics for Feed-Forward Control

Apply Feedback for Linear Control Build Electrical Actuator Model Summary
4

Four-Bar Linkage Control

Building Mechanical Linkage Model Invert Dynamics for Feed-Forward Control

Apply Feedback for Linear Control

Build Electrical Actuator Model Summary
5

Simulink Control Design and Response Optimization

Four-Bar Linkage Control

Building Mechanical Linkage Model Invert Dynamics for Feed-Forward Control Apply Feedback for Linear Control

Build Electrical Actuator Model

Summary
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Electric Drives

Motor

Power Converter

Controller

Pulse Width Modulation

Pulse Width Modulation

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Summary
Mechanical Model
3D Mechanical Linkage Motion CAD Connection Inverse-Dynamics

Electric Model
Fast for initial Mechanical Analysis Detailed for Analyzing Torque Ripple Effects

Complete Solution with Controller and Plant

Classic Control Theory System Optimization

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Next Steps: Analyze Regeneration

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Additional Webinars (Recorded)

Plant Modeling
Introduction to Electromechanical Modeling in Simulink Using SimPowerSystems in Electromechanical Applications

Controller
Introduction to Simulink for Control Design Multi-Loop Control Design in Simulink Made Easy

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