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Tham khảo tài liệu 'sliding mode control part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 304 Sliding Mode Control a Time sec 11 -------f without friction 2 -------fl with friction 3 4 5 0.11------------------------------------- ------ f1 without friction .0 1 ------f1 with friction -0.3f - -0.41 -0.5 -0. -0. -0.81--- .---- .---- .----- .---- 0.0 0.2 0.4 0.6 0.8 1.0 b Time sec 800 0.2 0.4 0.6 0.8 1 Time sec 2.5 2.0- 1.5- 1.0-1 0.5-1 0.0- -------f2 without friction -------f2 with friction 00 ----- f3 without friction -0.5- -------f3 with friction ẵ -1.0- -2.01 . . 1. 0.0 0.2 0.4 0.6 0.8 1.0 d Time sec c 0.0 0.2 0.4 0.6 0.8 1.0 Time sec Fig. 11. The simulation results of the toggle mechanism. desired curve actual trajectory without friction actual trajectory with friction and fr 0.3 a Response trajectories of the Lagrange multiplier ẰC . b Response trajectories of the constraint force fl. c Response trajectories of the constraint force f2 . d Response trajectories of the constraint force f3 Force Motion Sliding Mode Control of Three Typical Mechanisms 305 7. References 1 Fung R. F. Dynamic Analysis of the Flexible Connecting Rod of a Slider-Crank Mechanism ASME Journal of Vibration and Acoustic Vol. 118 No. 4 pp. 687689 1996 . 2 Fung R. F. and Chen H. H. Steady-State Response of the Flexible Connecting Rod of a Slider-Crank Mechanism with Time-Dependent Boundary Condition Journal of Sound and Vibration Vol. 199 No. 2 pp. 237-251 1997 . 3 Fung R. F. Dynamic Response of the Flexible Connecting Rod of a Slider-Crank Mechanism with Time-Dependent Boundary Effect Computer Structure Vol. 63 No. 1 pp. 79-90 1997 . 4 Fung R. F. Huang J. S. Chien C. C. and Wang Y. C. Design and Application of a Continuous Repetitive Controller for Rotating Mechanisms International Journal of Mechanical Sciences Vol. 42 pp. 1805-1819 2000 . 5 Lin F. J. Fung R. F. and Lin Y. S. Adaptive Control of Slider-Crank Mechanism Motion Simulations and Experiments International Journal of Systems Science Vol. 28 No. 12 pp. 1227-1238 1997 . 6 Lin F. J. Lin Y. S. and Chiu S. L. Slider-Crank .