Research on High Speed Access and Tracking Control of Flexible Mechenical System

柔性机械系统高速访问与跟踪控制研究

• 批准号: 61550182
• 负责人: ONO Kyosuke
• 金额: $ 1.22万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1986
• 资助国家: 日本
• 起止时间: 1986 至 1987
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-61550182/
• 关键词: Transient Vibration; Optimum Control Theory; Flexible Mechanical System; Flexible arm; Access Control; Positioning Mechanisum; Feedfoward Control; フィードバック制御; フレキシブルな機構; 振動機構系; 位置決め制御; 振動制御; 起動・停止制御; モード解析; フィードフォワード; 最適制御

The works done in this project are summrized as follows :1. An optimal starting and stopping motion control method without transient vibration for a multidegrees-of freedom flexible mechanical system involving dry friction as well as internal and external dampings was derived. It was found from the experimental study that this method is useful for the rapid access control of the multidegrees-of-freedom mechanical system.2. An numerical analysis was developed for the nonlinear bending vibration of a flexible arm which is accelerated to high speed in a reange of bending vibration period. From the experimental study it was found that the theoretical results agree well with the experimental ones , if three nonlinear terms and the external damping term of surrounding air are considered.3. The procedure to derive an optimal vibrationless motion and input force was generally formulated using the modal eguation of motion for a multidegrees-of -freedom flexible mechanical system. It was shown from the experiment that the transient vibration can be suppressed well using the combined control of collocation velocity tracking feedback and a vibrationless feedforward input.4. A plain explanation of instability was described for a simple feedback positioning mechanisum system which has one degree-of-freedom in addition to one degree of rigid body freedom.

本课题所做的主要工作如下：1.针对存在干摩擦和内外阻尼的多自由度柔性机械系统，提出了一种无瞬态振动的最优起停运动控制方法。实验研究表明，该方法对多自由度机械系统的快速访问控制是有效的.对高速加速度下柔性臂在一定弯曲振动周期范围内的非线性弯曲振动进行了数值分析。实验研究发现，在考虑三个非线性项和外界空气阻尼项的情况下，理论计算结果与实验结果吻合较好.推导多自由度柔性机械系统最佳无振动运动和输入力的方法一般是利用运动模态方程来表示的。实验结果表明，采用配置速度跟踪反馈和无振前馈输入相结合的控制方法，可以很好地抑制瞬态振动.对一个简单的反馈定位机构系统的不稳定性进行了简单的解释，该系统除了一个刚体自由度外，还具有一个自由度。

项目成果

山浦弘: 日本機械学会論文集(C編).

Hiroshi Yamaura：日本机械工程师学会会议录（ed.C）。

Kyosuke ONO: "Opyimal Starting Motion Control for Flexible Mechanical System (2nd Report, Theory for Multi-Degrees of Freedom System and Experimental Study)" Transaction of JSME (C). 53. 679-686 (1987)

小野恭介：“柔性机械系统的最佳启动运动控制（第二次报告，多自由度系统理论和实验研究）”JSME 交易（C）。

Kyosuke ONO: "Fundamental Investigation on Feedback Positioning Mechanical System Having One Degree of Vibration Freedom (1st Report, Instability Due to Negative Feedback)" Transaction of JSME (C). 53. 2568-2576 (1987)

小野恭介：“具有一级振动自由度的反馈定位机械系统的基础研究（第一份报告，负反馈导致的不稳定）”JSME 交易（C）。

小野京右: 日本機械学会第939回講演論文集. 860-5. 58-61 (1986)

Kyosuke Ono：日本机械工程师学会第 939 届会议论文集 860-5（1986）。

Hiroshi YAMAURA: "Vibrationless Access Control for a Flexble Arm" Transaction of JSME (C).

Hiroshi YAMAURA：JSME 的“柔性臂的无振动访问控制”交易 (C)。