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.
Highlights
This study seeks to reduce the tracking error in the output displacement of a high-speed cam follower system theoretically and experimentally by using the repetitive control method
The work presented here is a continuation of the work by Phetkong et al.[1], which has utilized the learning control theory to morph cam mechanisms
Similar to the learning control algorithm, repetitive control modifies its input for the cycle based on the tracking error and the input from the previous cycle
Summary
This study seeks to reduce the tracking error in the output displacement of a high-speed cam follower system theoretically and experimentally by using the repetitive control method. Similar to the learning control algorithm, repetitive control modifies its input for the cycle based on the tracking error (the difference between the actual and desired outputs) and the input from the previous cycle. Repetitive control is applied continuously to the cam follower system in order to morph the output of a 2-3 polynomial cam into a 3-4-5 polynomial desired trajectory.
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