权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Modeling and feed-forward control design of flexible multibody systems with environment contact

环境接触柔性多体系统建模与前馈控制设计

基本信息

批准号：
187619583
负责人：
Professor Dr.-Ing. Robert Seifried
金额：
--
依托单位：
Institut für Technische und Numerische Mechanik (ITM)
依托单位国家：
德国
项目类别：
Research Grants
财政年份：
2010
资助国家：
德国
起止时间：
2009-12-31 至 2019-12-31
项目状态：
已结题

来源：
https://gepris.dfg.de/gepris/projekt/187619583?language=en
关键词：
Modeling feed forward control design

项目摘要

Light-weight machine designs are becoming more and more important. This is due to increasing demands for energy efficiency and higher working speeds. However, this often yields undesirable elastic vibrations. If these machines have to perform large working motion, they must be modeled using the method of flexible multibody system dynamics. Also in many practical applications the contact between machines and their environment is becoming increasingly more important. Therefore, this project is aimed at modeling, inversion-based feed-forward control and trajectory control of flexible multibody systems with environment contact. In the first project phase a unified approach was developed for feed-forward control of flexible multibody systems with kinematic loops, permanently closed contacts and trajectory tracking. Thereby, a model inversion method based on so-called servo-constraints has been proven to be most suitable. Based on these encouraging results of the first funding period, the models and methods should be further developed in the second funding period such that an efficient usage in real applications is possible. Besides mythological improvements and numerical tests, selected experimental investigations should also be performed. Therewith the practical applicability of the developed models and methods will be demonstrated. A first goal of the second funding period is the improvement of the numerical efficiency of the boundary value solver for the model inversion. Thus, also for larger problems, a fast feed-forward control computation should become possible. For midsize problems computation times in the magnitude of the real time of the predefined trajectory are sought. The second goal is the improvement of the model accuracy, especially concerning friction modeling as well as an extension to opening and closing of the contact. This yields in both cases non-smooth models, and thus the developed solver of the inverse models must be modified. A third focal point is the combination of the feed-forward control with additional feedback control. Thus, also external disturbances in the elastic coordinates can be controlled. Such disturbances can be vibrations which are caused by friction at the contact point or vibrations excited when the contact closes. This project seeks to establish an output feedback control approach for the control task. Thereby, using strain gauges the curvature of the flexible bodies is measured. These are then compared with desired curvatures which are determined in the inverse model and feed back to the joint actuators. Further, the possibility of combing such a control concept with contact force measurements should be investigated. Final points of the second project phase are numerical and experimental validation of the develop methods using an existing flexible parallel kinematics.

轻量化的机器设计变得越来越重要。这是由于对能源效率和更高工作速度的需求不断增加。然而，这经常产生不期望的弹性振动。如果这些机器必须执行大的工作运动，他们必须使用柔性多体系统动力学的方法建模。此外，在许多实际应用中，机器与其环境之间的接触变得越来越重要。因此，本课题针对具有环境接触的柔性多体系统的建模、基于逆的前馈控制和轨迹控制进行了研究。在第一个项目阶段，开发了一种统一的方法，用于具有运动回路、永久闭合接触和轨迹跟踪的柔性多体系统的前馈控制。因此，基于所谓的伺服约束的模型反演方法已被证明是最合适的。在第一个供资期取得这些令人鼓舞的成果的基础上，应在第二个供资期进一步发展这些模型和方法，以便能够在真实的应用中得到有效利用。除了神话的改进和数值测试，还应该进行选定的实验研究。因此，开发的模型和方法的实用性将得到证明。第二个资助期的第一个目标是提高模型反演边界值求解器的数值效率。因此，同样对于较大的问题，快速前馈控制计算应该成为可能。对于中等规模的问题，计算时间的大小的真实的时间的预定义的轨迹寻求。第二个目标是提高模型精度，特别是关于摩擦建模以及扩展到接触的打开和关闭。这在两种情况下产生非光滑模型，因此必须修改逆模型的开发求解器。第三个焦点是前馈控制与附加反馈控制的组合。因此，也可以控制弹性坐标中的外部干扰。这种干扰可以是由接触点处的摩擦引起的振动或当接触闭合时激发的振动。本计画旨在建立一种输出回馈控制方法来完成控制任务。因此，使用应变仪测量柔性体的曲率。然后将这些曲率与在逆模型中确定的期望曲率进行比较，并反馈到关节致动器。此外，应研究将这种控制概念与接触力测量相结合的可能性。第二个项目阶段的最后一点是使用现有的灵活的并联运动学的开发方法的数值和实验验证。

项目成果

期刊论文数量（7）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Modeling and Trajectory Tracking Control of a New Parallel Flexible Link Robot

DOI：
10.1109/iros.2018.8594008
发表时间：
2018-10
期刊：
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
0
作者：
Merlin B. Morlock;N. Meyer;Marc-André Pick;R. Seifried
通讯作者：
Merlin B. Morlock;N. Meyer;Marc-André Pick;R. Seifried

Nonlinear State Estimation for Trajectory Tracking of a Flexible Parallel Manipulator

柔性并联机械臂轨迹跟踪的非线性状态估计