考虑闭环稳定性的曲柄滑块机构集成设计

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The slidevcrank mechanism is a transmission mechanism extensively usea m engineering practice. It is necessary to use the control system for getting a satisfactory trajectory. So the mechanism design is composed of two parts, structural design and control design. These two parts impact each other and are tightly coupled, and the separate design can not obtain the best performance. Hence integrated design is imperative. By making use of the Lyapunov function, an integrated design considering stability is proposed in this paper, seeing that stability is the most basic requirements of a closed-loop system. Simulation results show that this method can effectively carry out the mechanism design, reduce the body weight, optimize mechanism performance and save the design cost simultaneously.曲柄滑块机构是各种装置中的一种常用传动机构，在工程实际中获得了很广泛的应用．通过对它进行控制使其运动满足一定的要求，可以实现特定的功能，故其整体机构设计应该包含对结构和控制两个子系统的设计．两子系统相互耦合紧密联系，传统的分离设计已不能满足要求，故集成设计势在必行．而闭环稳定性是对一个控制系统最基本和核心的要求．通过引入李亚普诺夫函数，在机构的集成设计中着重考虑了闭环系统的稳定性问题．仿真结果表明，该设计方法可以有效地进行机构的设计，同时达到减轻机构质量、优化机构性能和降低设计生产成本的目标．