Adaptive robust control of crank-slider mechanism with clearance

XUE Shao-wen1,2, LIN Nai-chang1,2
（1.School of Mechanical Engineering, Luzhou Vocational and Technical College, Luzhou 646005,China;
2.Luzhou Key Laboratory of Intelligent Manufacturing, Sichuan Province，Luzhou 646005, China）

Abstract: Aiming at the problems of the decrease of system stability, accuracy and reliability caused by the clearance of the crank slider mechanism, the improved PSO algorithm was used to identify the crankslider mechanism with clearance, and an adaptive robust controller was used to compensate for the error generated by the clearance. First, the traditional PSO algorithm was improved from the inertia factor using a nonlinear decreasing method and the local optimal value was a weighted average method. Then, the traditional PSO algorithm and the improved PSO algorithm were respectively used to identify the crank slider mechanism with clearance. Finally, an adaptive robust controller was designed to compensate for the errors caused by the clearance of the crank slider mechanism. The results indicate that, compared with the traditional PSO algorithm, the improved PSO algorithm has higher accuracy for the model established by system identification, and the signal tracking accuracy of the designed adaptive robust controller is increased by about 51% on average.

Key words: clearance; crank-slider mechanism; improved particles swarm optimization（PSO）algorithm; parameter identification; robust control