Dynamic modeling and error compensation of crank 
slider mechanism with clearance


CHEN Qing1,2, 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, Luzhou 646005, China)


Abstract: Aiming at the problem that it was difficult to establish a comparatively accurate mathematical model for a strongly nonlinear system with clearance, targeting at crank slider mechanism with clearance, a nonlinear spring damping model for expressing contact force was provided. First, the Nikraavesh nonlinear spring damping collision model was used to model the dynamics of the slider crank mechanism with clearance. Secondly, the inverse model of the slider crank mechanism with clearance was established according to the inverse model theory. Finally, the comparison with the ideal slider crank mechanism was made, the inverse mode control and PID plus inverse mode control to compensate the system error caused by the gap were carried out. The theoretical analysis and research results show that using Nikraavesh nonlinear spring damping collision model to model the crank slider mechanism with clearance has higher accuracy and greatly reduces the difficulty of solving the problem. The error between the simulation result and the experimental measurement result is within a reasonable range. After compensation, the accuracy of the proposed inverse model error compensation strategy can improve by more than 52.1%. The modeling method and error compensation strategy have strong engineering application value which can be used as the effective way of mathematical modeling and error compensation.

Key words:  mechanisms with clearance; crank slider mechanism; spring damping model; inverse model; dynamic modeling; error compensation

CHEN Qing, XUE Shao-wen, LIN Nai-chang. Dynamic modeling and error compensation of crank slider mechanism with clearance［J］.Journal of Mechanical & Electrical Engineering, 2021,38(8):989-995.