Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a DC Motor

Salah, Mohammad; Al-Jarrah, Ahmad; Tatlıcıoğlu, Enver; BaniHani, Suleiman

doi:10.1007/s10846-018-0811-y

Cited by 14 publications

(10 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Al-Jarrah [17] discussed the dynamic performance of the four-bar mechanism driven by a geared DC motor under different operating conditions using different control schemes. Four-bar mechanism is used in the wheels of rail engine, pantograph and pumpjack applications.…”

Section: Introductionmentioning

confidence: 99%

Conversion of geared DC motor into stepper motor using switching delay time signals

Dadi

Peravali

Busi³

2021

SN Appl. Sci.

View full text Add to dashboard Cite

In solar tracking system, general stepper motor is used to control the stepwise movement and low speed of solar panel in vertical motion. Degree of rotation is directly proportional to stepwise movement (stepping method) of stepper motor. But it is cumbersome process to hold a solar panel at a particular vertical position depending on the sun’s position using low cost stepper motors. So, geared DC motor is implemented into stepper motor for low-speed applications using Stepping Method (GDCSM). Degree per step movement of geared DC motor is identified using Step angle switching delay time signal (A) of microcontroller. Speed of geared DC motor is controlled by passing fixed time interval between the pulses where the pulses have fixed width. Controlling speed is implemented by using Step delay time signal (D) of microcontroller. Combining effect of switching delay time signals A and D represents the Stepping Method. Stepping method resembles the step movement and controlling speed of the stepper motor. Speed of 10RPM & 30RPM geared DC motors is operated at 10V DC power supply. Microcontroller ATmega 328P with switching delay time signals is used to control the geared DC motors. Performance of 10RPM & 30RPM GDCSM is analyzed with stepper motors in terms of Relative slip degree error per revolution (RE$$_\mathrm{{S}}$$ S ) and acceptable slippage degree tolerance under open loop condition. Change in consuming voltage tolerance ($$\varDelta$$ Δ ) during rotation of GDCSM is another parameter which is used to maintain the constant actual total step count per revolutions of GDCSM. At 40 ms of step angle delay time (A), 10RPMGDCSM has 120 steps per revolution. At 25 ms of A, 30RPMGDCSM has 55 steps per revolution. Speed of 10RPM & 30RPM GDCSM is controllable up to 2RPM when its RE$$_\mathrm{{S}}$$ S or acceptable slippage degree tolerance value is less than or equal to 1%. If $$\varDelta$$ Δ value of GDCSM is less than or equal to − 0.4%, then it behaves like stepper motor. GDCSM is suitable to hold and control vertical position of solar tracking system with low speed and step movement. Performance of geared DC motor experimentally showed better result than commercial available stepper motors like 28BYJ-48 or STP-43d1027-01.

show abstract

Section: Introductionmentioning

confidence: 99%

Conversion of geared DC motor into stepper motor using switching delay time signals

Dadi

Peravali

Busi³

2021

SN Appl. Sci.

View full text Add to dashboard Cite

show abstract

“…Tao ve Sadler [2], DC motor ile tahrik edilen dört çubuk mekanizmasının krank hızında meydana gelen hız dalgalanmalarını PID kontrol algoritmasını kullanarak gidermeye çalışmıştır. Aynı amaçla bulanık mantık [3], kayan kipli kontrol [4], hareketli kayan kipli kontrol [5], geri adımlama (backstepping) kontrol [6] ve bu kontrol tekniklerinin karma bir şekilde uygulandığı [7], [8] çalışmalar mevcuttur.…”

Section: Introductionunclassified

Sabit Hız İle Yörünge Takibi Sağlayan Dört Çubuk Mekanizmasının Hız Kontrolü

HÜLAKO>

Çakar

2022

DÜMF MD

View full text Add to dashboard Cite

Yüksek maliyetli otomatik seri üretim makinelerinin sabit hız gerektiren işlemlerinde DC motor ile tahrik edilen dört çubuk mekanizmaları yaygın olarak kullanılmaktadır. Sabit hızlı mekanizmaların tasarımları zor olmalarının yanında farklı hız talepleri durumunda mekanizmanın boyutlarının değişmesi gerekmektedir. Alternatif olarak mekanizmayı tahrik eden motor hızı kontrol edilerek bu talep gerçekleştirilebilmektedir. Bu çalışmada dört çubuk mekanizmasında biyel üzerindeki bir noktanın sabit bir hız ile yörüngesi üzerinde ilerleyebilmesi problemi göz önüne alınmıştır. Bu amaçla krank hızı istenilen yörünge takip hızını sağlayacak şekilde kontrol edilmiştir. Matlab Simscape aracından faydalanılmış ve krank hızının kontrolünde PID algoritması kullanılmıştır. Örnek bir mekanizma için sayısal benzetim çalışmaları yapılmış ve başarılı sonuçlar elde edilmiştir.

show abstract

“…It is also possible to achieve the desired output movement behavior, by varying the length of the input link of a four-bar mechanism [14]. On the other hand, considering the combination of an individual motor and mechanism, treated as a single system controlled properly, the design process can satisfy the movement characteristics specified for a trajectory that corresponds to a complete cycle of the input link [15][16][17][18][19][20][21][22][23][24][25][26][27][28][29]. Different control techniques have been studied to regulate the crank angular speed fluctuations introduced by the inertia of the rotor and the rotating bars in a four-bar linkage when an electric motor is Technical Editor: Monica Carvalho.…”

Section: Introductionmentioning

confidence: 99%

“…Different control techniques have been studied to regulate the crank angular speed fluctuations introduced by the inertia of the rotor and the rotating bars in a four-bar linkage when an electric motor is Technical Editor: Monica Carvalho. used to drive the mechanism, namely, proportional-integral-derivative (PID) controller [15,18,22,23,27], PD [17,19], model reference adaptive control [16], fuzzy control [20], robust fuzzy control [24], PID neural network controller [21], proportional-derivative and neural adaptive control [25], various control schemes are explored (filtered proportional integral-derivative, filtered sliding mode, filtered fuzzy, and filtered genetic-based reinforcement neuro controller) [26], moving sliding mode control [28], and robust backstepping control [29]. Most of the previous papers focus on the regulation of the crank angular speed fluctuations, and only papers [18,19,22,27], the problem of variable input speed control, which is the main focus of this work, is attended.…”

Section: Introductionmentioning

confidence: 99%

Vision-based control for trajectory tracking of four-bar linkage

Flota-Bañuelos

Peón-Escalante

Ricalde

et al. 2021

J Braz. Soc. Mech. Sci. Eng.

View full text Add to dashboard Cite

It is well-known that mechanical sensors suffer failure in hostile environments. Therefore, in such applications, vision control is a suitable solution. In this paper, we propose a new approach for design and implementation of the control system for the speed of the coupler point in a four-bar linkage. To measure the coupler point position a computational vision system is implemented; the vision system sends the controller the precise position of the desired point for a wide range of crank rotational speeds. A proportional integral derivative control system is designed and implemented in a microprocessor. Stability analysis for the controlled system is performed via the Lyapunov stability theory. Performance of the system is validated experimentally in a prototype of a planar mechanism obtaining an average square error of measurement less than 0.03% and regulation of operating point less than 1% for different speed references.

show abstract

Robust Backstepping Control for a Four-Bar Linkage Mechanism Driven by a DC Motor

Cited by 14 publications

References 26 publications

Conversion of geared DC motor into stepper motor using switching delay time signals

Conversion of geared DC motor into stepper motor using switching delay time signals

Sabit Hız İle Yörünge Takibi Sağlayan Dört Çubuk Mekanizmasının Hız Kontrolü

Vision-based control for trajectory tracking of four-bar linkage

Contact Info

Product

Resources

About