Abstract
Canceling the effects generated by inertia in the mechanisms is a complicated task with great benefits, such as reducing the Chattering effect and, in turn, energy consumption. In this article, a methodology is proposed for the cancellation of the effects produced by inertia in 1 degree of freedom mechanisms. As a solution, a control system is proposed with the application of a Time Base Generator (TBG), merged with a Proportional-Integral-Derivative (PID) controller and to limit the error, a sliding surface (SMG), to finally reach the desired position in the mechanism. The main contribution of this work is to develop the algorithm to cancel the effects produced by inertia when exist a dynamic change in the mechanism, thus obtaining a decrease in the Chattering effect presented in the rotary actuators. As a secondary contribution in this work, speed has a Gaussian campaign behavior similar to the curves drawn by the extremities of the human body, thus guaranteeing the decrease of the Chattering effect and in turn reducing the energy consumption demanded by the actuator (torque) to move the mechanism. The work has as an experimental object a 1 DOF mechanism, whose task is to lift loads vertically. In the analysis the controller reaches the desired position in a finite time, eradicates the speed fluctuations that give rise to an over acceleration when the mechanism changes from rest to a state of movement. The controller compensates the disturbances generated by the loads applied to it. The results show a functional and safe controller, capable of bringing the mechanism to a desired position in a defined time, eliminating the effects of inertia (Slinky effect).
Published Version
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