Modeling And Precise Motion Control Considering The Gap Slider Crank Mechanism

The gap at the hinge mechanism is common in mechanical systems due to design errors, processing errors, needs of mechanism installation and the wear of long-term using. It reduces the accuracy of the movement and make it difficult for institutions to complete a predetermined trajectory leding to the production failure or casualties, which can not adapt to the modern machinery for kinematics accuracy and safety requirements increasingly high tide.In this paper, modeling and simulation were performed on nonlinear damping spring contact force model of ideal and slider-crank mechanism with clearances based on Dynamics theory. Build a slider-crank mechanism experimental system, and displacement data were collected at different speeds slider case. The inverse model is used into the PID control ideas, building RTW real-time motion control platform to improve the accuracy of mechanism motion, and the mechanism movement is controlled with different initial speeds at the same way. The motion parameters is identified by experimental method. The Mathematical model is established and verified.The results showed that the simulation and experimental results of the Gap model has very small deviation which verified the accuracy of the model. PID control with inverse model can effectively compensate for error and improve the movemen accuracy of the t mechanism. It is easy to establish the mathematical model by parameter identification method alrough difficult to collect experimental data because vibration, so that the accuracy of the model is influenced by moving. But it is a high precision displacement model comparing with the model simulation and actual output, which verify the accuracy of the model and provides a new method for modeling complex nonlinear electromechanical systems.