Track Control Theory And Experiment Research Of Hybrid-Driven Mechanism

Hybrid-driven mechanism is a hot topic in mechanism and machine theory area. It has the advantages of having flexibility compared with traditional mechanical devices, and lower cost compared with full servo mechanical system. It solves the problem and contradiction among high speed, efficient and high load ideally. In this paper, based on the kinematic and inverse-kinematic analyses of a plane closed-loop five-bar mechanism, the complex track control problem of hybrid-driven mechanism is resarched. The main content is as follows:The kinematic and inverse-kinematic analysis of a plane closed-loop five-bar linkage mechanism are carried out. The influences of input parameters on the output movement track are analyzed, the velocities of two input bars of the mechanism are determined. Known the size and motion laws of the two input bars, using the dynamic static analysis theory of mechanism, a method for calculating the driving torque of two input bars is put forward. A simulation example is given to confirm correctness of the calculated driving torque law.The scheme of the drive system for hybrid-driven five-bar mechanism is determined, and some hardware used in this drive system are selected .The control software of this system is developed using VC++ language. The parameter optimizing PID controller and fuzzy self-adaptive PID controller are designed to control the output law of the AC servomotor. The simulations of two control methods are finished.The track control experiment platform of hybrid-driven five-bar mechanism is designed. The mechanism is driven by the AC servomotor used to adjust the output track. The experimented results show that the accuracy of generated track is improved significantly by applying parameters optimizing PID control method. The experiment error is analyzed as well.