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式控制规则获取技术的研究：针对臂式变几何桁架（VGT）的姿态控制，提出了一种基于遗传算法的自主分布式控制规则获取技术，该桁架由多个单元桁架模块串联而成，每个单元桁架模块包括变长杆件，并作为末端执行器施加工作载荷。该方法可以自动获得控制规则，使任何给定的初始姿态和轨迹的最佳姿态。通过自适应的数值仿真验证了所获得的控制规则的有效性。(2)变几何桁架抗动载自主稳定规律建模：针对自适应过程中惯性力引起的扰动和振动，为装有传感器的VGT和各模块中的主动阻尼器开发了振动抑制的自主分布式控制规律的遗传获取技术。(3)三维变几何桁架的构造：构造了一个由六个固定构件和三个带传感器的可变构件组成的五个八面体桁架模块的三维桁架结构。变长构件由滚珠丝杠和步进电机实现，末端执行器位置由一对CCD摄像机检测，实现了自主分布式控制。控制规则的有效性，实现最大刚度姿态已被实验证实。

(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.