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Optimizing Motion Control Featuring a FourBar Linkage

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02 Mar 2007 (Updated )

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

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Description

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/

Acknowledgements

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

Required Products Control System Toolbox
SimMechanics
SimPowerSystems
Simscape
Simulink Control Design
Simulink Response Optimization
Simulink 3D Animation
MATLAB release MATLAB 7.3 (R2006b)
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Comments and Ratings (5)
19 Dec 2012 junjie jia

it's very useful

11 May 2009 Luka  
18 Sep 2007 dao sang

it's very interesting

29 Jun 2007 mani kandan

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

21 Mar 2007 jose uerba

Is a good algoritms

Updates
08 Mar 2007

Additional files added to enable the Virtual Reality Visualization.

02 Jun 2009

Added BSD license.

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