Dynamic analysis and controller design for a slider–crank mechanism with piezoelectric actuators

Abstract

Abstract Dynamic behaviour of a slider–crank mechanism associated with a smart flexible connecting rod is investigated. Effect of various mechanisms' parameters including crank length, flexibility of the connecting rod and the slider's mass on the dynamic behaviour is studied. Two control schemes are proposed for elastodynamic vibration suppression of the flexible connecting rod and also obtaining a constant angular velocity for the crank. The first scheme is based on feedback linearization approach and the second one is based on a sliding mode controller. The input signals are applied by an electric motor located at the crank ground joint, and two layers of piezoelectric film bonded to the top and bottom surfaces of the connecting rod. Both of the controllers successfully suppress the vibrations of the elastic linkage. Highlights Dynamic behaviour of a slider–crank mechanism associated with a smart flexible connecting rod is investigated. Effect of various mechanisms' parameters including crank length, flexibility of the connecting rod and the slider's mass on the dynamic behaviour is studied. Two control schemes are proposed for elastodynamic vibration suppression of the flexible connecting rod and also obtaining a constant angular velocity for the crank. Controllers are based on feedback linearization approach and sliding mode controller.