Morphing Mechanisms Part 2: Using Repetitive Control to Morph Cam Follower Motion
- 1 The National Metal and Materials Technology, Center (MTEC), Patumthani, Thailand
- 2 Dempartment of Mechanical Engineering, Lehigh University, Bethlehem, United States
- 3 Department of Mechanical Engineering, Columbia University New York, New York 10027, United States
Abstract
This research utilizes the repetitive control approach in morphing a high-speed cam mechanism so that its output displacement tracks the desired output trajectory. The main objective is to reduce the output tracking error, which is the difference between the actual and desired output displacements of the output mass. A 3-degree of freedom mathematical model is used to analyze and represent the cam follower system. The output tracking error in cam follower systems is generally caused by errors in cam profile manufacturing, variation in the speed of the driving motor and the dynamics of the cam follower system. Theoretical and experimental results show that the output tracking error is greatly reduced after repetitive control has been applied to the system. As a result, the actual output displacement tracks the desired output displacement very closely.
DOI: https://doi.org/10.3844/ajassp.2005.904.909
Copyright: © 2005 Nonglak Phetkong, Meng-Sang Chew and Richard W. Longman. This is an open access article distributed under the terms of the
Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
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Keywords
- Modern Control
- Nonlinear Cam Follower
- Tracking Error Reduction
- Vibration in Cam Mechanisms