Development of Acquisition Technique of Autonomous Distributed Control Rules for Postures and Locus of Large Scale Adaptive Structures, and Construction of Variable Geometry Truss

(1)变几何桁架自主分布控制规则获取技术的发展：针对臂型变几何桁架（VGT）的姿态控制，开发了一种自主分布控制规则的遗传获取技术，该臂型变几何桁架由包含变长构件的单元桁架模块串联而成，作为末端执行器应用于工作载荷。该方法可以自动获取任意初始姿态和轨迹下的最优姿态控制规则。通过自适应的数值仿真验证了所获得控制规则的有效性。(2)变几何桁架抗动载荷自主稳定规则建模：针对各模块中配备VGT的传感器和主动自卸车，开发了一种针对自适应过程中惯性力扰动和振动抑制的自主分布式控制规则的遗传获取技术。(3)三维变几何桁架构造：构造由6个固定构件和3个带传感器的变构件的5个八面体桁架模块组成的三维桁架结构。通过滚珠丝杠和步进电机实现变长构件，并通过一对CCD摄像机感知末端执行器位置实现自主分布控制。通过实验验证了该控制规则对获得最大刚度姿态的有效性。

(1) Development of Acquisition Technique of Autonomous Distributed Control Rules for Variable Geometry Trusses : A genetic acquisition technique of autonomous distributed control rules has been developed for the posture control of arm-type variable geometry trusses(VGT), which consist of serial connection of unit truss module including variable length member and are applied working load as end effecter. This technique can acquire the control rules automatically which achieve optimum posture for any given initial postures and locus. The validity of the acquired control rules is confirmed by the numericalsimulation of adaptation.(2) Modeling of Autonomous Stabilization Rule of Variable Geometry Truss against Dynamic Loading : A genetic acquisition technique of autonomous distributed control rules of vibration suppression against the disturbance and vibration caused by inertia force during adaptation has been developed for VGT equipped sensors and active dumpers in each module.(3) Construction of Three-Dimensional Variable Geometry Truss : A three-dimensional truss structure which consists of five octahedral truss module of six fixed members and three variable members with sensors is constructed. The variable length members are realized by the ball screw and stepping motor, and the autonomous distributed control has been implemented by sensing the end effecter position by a pair of CCD camera. The validity of the control rule for attaining the maximum stiffness posture has been confirmed experimentally.