Basic models and concepts of machine dynamics and motion control are presented in the order of the principal steps of machine design. The machine is treated as a coupled dynamical system, including drive, mechanisms and controller, to reveal its behavior at different regimes through the interaction of its units under dynamic and processing loads. The main dynamic effects in machines are explained. The influence of component compliances on accuracy, stability and efficiency of the machines is analyzed. Methods for decreasing internal and external vibration activity of machines are described. The dynamic features of digital control are considered. Special attention is given to machines with intense dynamic behavior: resonant and hand-held percussion ones. Targeted to engineers as well as to lecturers and advanced students.

Comprehensive presentation of a modern and general theory of multi-body system dynamics and control. Includes supplementary material: sn.pub/extras

Inhalt

Introduction to machine dynamics.- 1.1 Basic concepts and definitions.- 1.2 Dynamic models of drivers.- 1.3 Dynamic models of mechanical systems.- 1.4 Operating characteristics. Resistance forces.- 1.5 Motion control systems.- 2. Dynamics of single driver machines with rigid components.- 2.1 Kinetic energy of machine and generalised forces.- 2.2 Equations of machine motion. Motion regimes.- 2.3 Steady state motion dynamics.- 2.4 Methods to reduce internal vibration in machine.- 2.5 Transient processes.- 2.6 Vibration of a machine on a flexible foundation.- 3. Dynamics of machines with flexible transmission mechanism.- 3.1 Elastic and dissipative characteristics of transmission mechanism.- 3.2 Equations of motion for machine with a flexible transmission mechanism.- 3.3 Steady state motion.- 3.4 Transient processes.- 4 Dynamics of machines with multi-mass chained mechanical system.- 4.1 Degrees of freedom for dynamic models. Generalised coordinates.- 4.2 Equations of motion for chained system.- 4.3 Transfer functions and frequency characteristics of chained system.- 4.4 Steady state motion of machine with chained mechanical system.- 4.5 Transient processes in machine with chained mechanical system.- 5. Dynamics of machines with program control system.- 5.1 Program control of machine motion and feedback.- 5.2 Structure of control systems with feedback.- 5.3 Stabilisation of velocity in machine with rigid components.- 5.4 Efficiency and stability in a closed-loop automatic control system.- 5.5 Stabilisation of velocity in machine with flexible transmission mechanism.- 6. Dynamics of resonant machines.- 6.1 Excitation and tuning of resonant machines.- 6.2 Generalised models of a vibration machine.- 6.3 Vibration machines with forced excitation.- 6.4 Vibration machines with single degree of freedom under forced excitation. Resonant machines.- 6.5 Vibration machines with kinematic excitation.- 6.6 Dynamic characteristics of vibration systems.- 6.7 Operating loads. Nonlinear effects in resonant machines.- 6.8 Methods for the tuning of resonant machines.- 6.9 Autoresonant excitation of vibration machines.- 7. Dynamics of hand-held percussion machines.- 7.1 Percussion machine as a pulse modulator.- 7.2 Excitation of percussion machine as a problem of optimal control.- 7.3 Quasi-optimal excitations with condensed acceleration impulses.- 7.4 Dynamics of rotary-percussion machines.