Modeling and Control of Flexible Transporter System With Arbitrarily Time-Varying Cable Lengths
Modeling and Control of Flexible Transporter System With Arbitrarily Time-Varying Cable Lengths
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DOI：
10.1115/detc2003/vib-48345
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发表时间：
2003
期刊：
影响因子：
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通讯作者：
Yuhong Zhang;S. Agrawal;P. Hagedorn
中科院分区：
文献类型：
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作者：
Yuhong Zhang;S. Agrawal;P. Hagedorn
本文提出了一种推导具有任意时变长度的缆索运输系统模型的系统方法。两种不同的方法来开发的模型，即牛顿定律和汉密尔顿的原则。所导出的控制方程为非线性偏微分方程。使用这两种方法得到相同的结果。采用Rayleigh-Ritz方法，将无限阶偏微分方程转化为有限阶离散系统，得到了控制方程的近似数值解。导出了既能耗散振动能量又能保证达到预期目标的李亚普诺夫控制器。通过数值仿真验证了该控制器的有效性。Copyright © 2003 by ASME
A systematic procedure for deriving the system model of a cable transporter system with arbitrarily time-varying lengths is presented. Two different approaches are used to develop the model, namely, Newton’s Law and Hamilton’s Principle. The derived governing equations are nonlinear partial differential equations. The same results are obtained using the two methods. The Rayleigh-Ritz method is used to obtain an approximate numerical solution of the governing equations by transforming the infinite order partial differential equations into a finite order discretized system. A Lyapunov controller which can both dissipate the vibratory energy and assure the attainment of the desired goal is derived. The validity of the proposed controller is verified by numerical simulation.Copyright © 2003 by ASME