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Optimizing Motion Control Featuring a FourBar Linkage


Terry Denery (view profile)


02 Mar 2007 (Updated )

These files are used in webinar titled, "Optimizing Motion Control Systems Featuring a Four Bar Link

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This submission includes the files used in the webinar delivered March 1st, 2007, and titled "Optimizing Motion Control Systems Featuring a Four-Bar Linkage".

It demonstrates the use of Inverse-Dynamics implemented through the tool SimMechanics. The ability to anticipate actuator torque requirements through this method offers a significant improvement in the success of the system. Pure PID feedback leads to maximum errors 50 times greater than the method employing inverse dynamics.

This material also includes electric actuator models that show the impact of torque ripple coming from the PWM power control scheme. It demonstrates that from a position control point of view that the optimal motor selection is one that is neither too big, nor too small.

To learn more about MathWorks Physical Modeling products go to: http://physical-modeling.mathworks.com/


This file inspired Pid Controller Design And Tuning With Matlab And Simulink Fourbar Linkage.

Required Products Control System Toolbox
Simulink Control Design
Simulink Response Optimization
Simulink 3D Animation
MATLAB release MATLAB 7.3 (R2006b)
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Comments and Ratings (6)
22 Nov 2014 Yufeng Lv  
19 Dec 2012 junjie jia

it's very useful

Comment only
11 May 2009 Luka

Luka (view profile)

18 Sep 2007 dao sang

it's very interesting

Comment only
29 Jun 2007 mani kandan

this is not bad............

21 Mar 2007 jose uerba

Is a good algoritms

Comment only
08 Mar 2007

Additional files added to enable the Virtual Reality Visualization.

02 Jun 2009 1.1

Added BSD license.

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