Proposition of the controller design method for flexible membrane-like structure by the use of mathematical expression derived by Absolute Nodal Coordinate Formulation

提出了一种基于绝对节点坐标公式的柔性多体系统控制器降维设计方法。首先，针对由二维柔性梁组成的系统提出了降维方法，并通过数值分析对该方法进行了验证。然后，将该方法推广到由三维柔性梁组成的系统中，并通过数值分析对该方法进行了验证。此外，考虑到结构与三维柔性梁的关系，讨论了将该方法推广到柔性网架结构的可能性。为了对所提出的方法进行实验验证，开发了一些实验装置，对其基本功能进行了检查，并进行了一些修改，以提高实验装置的性能。

Dimension reduction method was proposed for a controller design method of flexible multibody systems which used a mathematical expression derived by Absolute Nodal Coordinate Formulation. At first, the dimension reduction method was proposed for a system which consisted of 2-dimensional flexible beam and the method was demonstrated by numerical analysis. Then, the proposed method was extended to the system which consisted of 3-dimensional flexible beam and the method was also demonstrated by numerical analysis. Furthermore, possibility of extension of the proposed method to flexible grid structure was discussed in consideration of the relationship between the structure and 3-dimensional flexible beam. In order to carry out experimental validation of the proposed method, some experimental set up were developed and fundamental function of the set up was checked and some modifications have been attempted in order to improve the performance of the experimental set up.