Dynamics based control of flexible multi-body system with geometric constraint based on distributed parameter

基于分布参数的几何约束柔性多体系统动力学控制

• 批准号: 11650243
• 负责人: MATSUNO Fumitoshi
• 金额: $ 2.18万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11650243/
• 关键词: Geometric constraint; Flexible multi-body system; Distributed parameter model; Dynamics based control; Experimental validation; 双腕フレキシブルアーム; PDS協調制御; 拘束条件; 出力フィードバック制御

1.Cooperative control of two flexible manipulatorsWe proposed robust cooperative control law of two two-link flexible manipulators based on quasi-static equations. We also proposed PDS cooperative control law of two one-link flexible arms. To demonstrate the validity of the proposed controllers, experiments carried out. The experimental results ensure the validity of the derived model and the effectiveness of the proposed controller.2.Passivity of flexible manipulatorsWe showed that the property of passivity is satisfied in case of one-link flexible manipulators based on distributed parameter model. For n-link-flexible manipulators we showed the similar result using an approximated model.3.PDS control of a flexible space structure with a closed-loop chain mechanismWe proposed PDS controller of two interconnected flexible beams based on distributed parameter model. The effectiveness of the proposed PDS controller is supported by experimental tests that have been carried out to demonstrate robustness of the controller with respect to plant parameter variations.

1.两柔性机械臂的协调控制基于拟静态方程，提出了两两连杆柔性机械臂的鲁棒协调控制律。提出了两个单连杆柔性臂的PDS协同控制律。为了证明所提出的控制器的有效性，进行了实验。实验结果验证了所建模型的正确性和所提方法的有效性。2.柔性机械臂的无源性我们证明了基于分布参数模型的单连杆柔性机械臂满足无源性。对于n连杆柔性机械臂，我们用近似模型得到了类似的结果。3.具有闭环链式机构的柔性空间结构的PDS控制基于分布参数模型，提出了两柔性梁的PDS控制器。所提出的PDS控制器的有效性的实验测试，已经进行了证明相对于植物参数变化的控制器的鲁棒性的支持。

项目成果

F.Matsuno and T.Ohno: "Exponential Stabilization of Vibrotion for a Large Space Structure with Distributed and Lumped Flexibility"Proc.the 38th IEEE CDC. 657-662 (1999)

F.Matsuno 和 T.Ohno：“具有分布式和集总灵活性的大空间结构的振动指数稳定”Proc.第 38 届 IEEE CDC。

F.Matsuno and M.Hatayama: "Robust Cooperotive Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-Static Equations"Int.J.Robotics Research. 18・4. 414-428 (1999)

F.Matsuno 和 M.Hatayama：“基于准静态方程的两个两连杆柔性机械手的鲁棒协作控制”Int.J.Robotics Research 18・4（1999）。

松野文俊: "メカニカルソフトネスーリンクフレキシビリィティ"日本ロボット学会誌. 17・6. 24-27 (1999)

Fumitoshi Matsuno：“机械柔软性 - 链接灵活性”日本机器人学会杂志 17・6（1999）。

松野,村田: "先端負荷をもった 2リンク柔軟アームのPDS制御"システム制御情報学会論文誌. 14(1). 26-32 (2001)

Matsuno, Murata：“带有尖端负载的两连杆柔性臂的 PDS 控制”，系统、控制和信息工程师学会汇刊 14(1) (2001)。

F.Matsuno T.Ohno and Y.V.Orlov: "PDS (Proportional Derivative and Strain) Feedback Control of a Flexible Structure with Closed-loop Mechanism"Proc.the 38th IEEE CDC. 4331-4336 (1999)

F.Matsuno T.Ohno 和 Y.V.Orlov：“具有闭环机制的柔性结构的 PDS（比例微分和应变）反馈控制”Proc.第 38 届 IEEE CDC。