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Optimizing Motion Control Systems Featuring a Four-Bar Linkage

Terry DeneryThe MathWorks

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Four-Bar Linkage Control

Build Mechanical Linkage ModelInvert Dynamics for Feed-Forward ControlApply Feedback for Linear ControlBuild Electrical Actuator ModelSummary

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SimMechanics and CAD TranslationDefine bodies

MassCenter of massInertia tensor

Form joints based on CAD assembly matesCAD partners

Pro/EngineerSolidWorks

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Four-Bar Linkage Control

Building Mechanical Linkage ModelInvert Dynamics for Feed-Forward ControlApply Feedback for Linear ControlBuild Electrical Actuator ModelSummary

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Four-Bar Linkage Control

Building Mechanical Linkage ModelInvert Dynamics for Feed-Forward ControlApply Feedback for Linear ControlBuild Electrical Actuator ModelSummary

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Simulink Control Design and Response Optimization

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Four-Bar Linkage Control

Building Mechanical Linkage ModelInvert Dynamics for Feed-Forward ControlApply Feedback for Linear ControlBuild Electrical Actuator ModelSummary

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Electric Drives

Controller

PowerConverter

Motor

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Pulse Width Modulation

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Pulse Width Modulation

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Summary

Mechanical Model3D Mechanical Linkage MotionCAD ConnectionInverse-Dynamics

Electric ModelFast for initial Mechanical AnalysisDetailed for Analyzing Torque Ripple Effects

Complete Solution with Controller and PlantClassic Control TheorySystem Optimization

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Next Steps: Analyze Regeneration

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Additional Webinars (Recorded)

Plant ModelingIntroduction to Electromechanical Modeling in SimulinkUsing SimPowerSystems in Electromechanical Applications

ControllerIntroduction to Simulink for Control DesignMulti-Loop Control Design in Simulink – Made Easy