Vibration control of a four-bar mechanism with a flexible coupler link

Mansour Karkoub, A. S. Yigit

Research output: Contribution to journalArticle

23 Citations (Scopus)

Abstract

Dynamic modelling and controller design for a flexible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates the design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD controller is designed based on a linearized model. These gains are subsequently tuned using the actual model to achieve the desired response. The resultant controller is shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.

Original languageEnglish
Pages (from-to)171-189
Number of pages19
JournalJournal of Sound and Vibration
Volume222
Issue number2
Publication statusPublished - 29 Apr 1999
Externally publishedYes

Fingerprint

Vibration control
couplers
controllers
vibration
Controllers
rigid structures
Nonlinear equations
dynamic models
nonlinear equations
Equations of motion
Dynamic models
equations of motion
Differential equations
differential equations

ASJC Scopus subject areas

  • Condensed Matter Physics
  • Mechanics of Materials
  • Acoustics and Ultrasonics
  • Mechanical Engineering

Cite this

Vibration control of a four-bar mechanism with a flexible coupler link. / Karkoub, Mansour; Yigit, A. S.

In: Journal of Sound and Vibration, Vol. 222, No. 2, 29.04.1999, p. 171-189.

Research output: Contribution to journalArticle

@article{a4b3fd49e6d54277a856ff85d1b27125,
title = "Vibration control of a four-bar mechanism with a flexible coupler link",
abstract = "Dynamic modelling and controller design for a flexible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates the design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD controller is designed based on a linearized model. These gains are subsequently tuned using the actual model to achieve the desired response. The resultant controller is shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.",
author = "Mansour Karkoub and Yigit, {A. S.}",
year = "1999",
month = "4",
day = "29",
language = "English",
volume = "222",
pages = "171--189",
journal = "Journal of Sound and Vibration",
issn = "0022-460X",
publisher = "Academic Press Inc.",
number = "2",

}

TY - JOUR

T1 - Vibration control of a four-bar mechanism with a flexible coupler link

AU - Karkoub, Mansour

AU - Yigit, A. S.

PY - 1999/4/29

Y1 - 1999/4/29

N2 - Dynamic modelling and controller design for a flexible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates the design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD controller is designed based on a linearized model. These gains are subsequently tuned using the actual model to achieve the desired response. The resultant controller is shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.

AB - Dynamic modelling and controller design for a flexible four-bar mechanism is studied. The fully coupled non-linear equations of motion are obtained through a constrained Lagrangian approach. Resulting differential-algebraic equations are solved numerically to obtain the system response. A linearized dynamic model is developed which facilitates the design of various controllers. The fully coupled nature of the governing equations facilitates control of elastic motion through the input link alone. A simple PD controller is designed based on a linearized model. These gains are subsequently tuned using the actual model to achieve the desired response. The resultant controller is shown to be efficient in suppressing the vibrations of the flexible link as well as controlling the rigid body motion.

UR - http://www.scopus.com/inward/record.url?scp=0001097039&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0001097039&partnerID=8YFLogxK

M3 - Article

VL - 222

SP - 171

EP - 189

JO - Journal of Sound and Vibration

JF - Journal of Sound and Vibration

SN - 0022-460X

IS - 2

ER -