ADAMS/Simulink interface for Dynamic Modeling and Control of Closed Loop Mechanisms

Abstract – In this work, computer aided methods for dynamics modeling and control of a closed loop mechanisms are presented. The software, ADAMS, was used to generate automatically the dynamic model. This model was then used under the Matlab/Simulink environment to control the mechanism. Simulation results are presented to illustrate the behavior of the whole mechatronic system under different control strategies. The crank slider mechanism was chosen to illustrate our approach. In particular, it is shown that simple PD controller is sufficient to yield acceptable dynamic behavior of a statically balanced mechanism even when gravity was taken into account