Constant Speed Control of Slider-Crank Mechanisms: A Joint-Task Space Hybrid Control Approach

In this paper, a constant speed control of slider-crank mechanisms for machine tools is proposed. A joint-task space hybrid controller based on a second-order sliding mode control and time-base generator was used to guarantee a constant speed trajectory tracking and a complete turn of the mechanism crank. A switching criterion was implemented in order to avoid the singularities located at the two extreme positions of the slider stroke. A trapezoidal speed profile with parabolic blends was designed directly over task space slider trajectory considering a constant cutting speed, the workpiece dimensions and the slider stroke length. Stability of the second-order sliding mode control was validated with the Lyapunov stability theory. Simulations were carried out to verify this approach.

Automated summary

This paper presents a constant speed control scheme for slider-crank mechanisms in machine tools, which ensures constant speed trajectory tracking and complete turn of the mechanism crank by implementing a switching criterion to avoid singularities. A specific speed profile was designed to meet the requirements of constant cutting speed, workpiece dimensions, and slider stroke length. The stability of the second-order sliding mode control was validated using Lyapunov stability theory, and simulations were conducted to verify the approach.