<論文>高域遮断特性を持たせた最適制御による直動型1リンク・フレキシブルアームの力制御

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This paper is concerned with the force control of one-link flexible arms mounted on a linear motor. Since the tip of the flexible arm contacts a given constraint surface, a constraint condition should be satisfied. By using Lagrange multiplier method and Hamilton's principle, we derive the dynamic equations of the motion of the base body that the flexible arm is mounted (an ordinary differential equation), the vibration of the flexible arm (a partial differential equation) and the constraint force. By solving eigenvalue problem, eigenvalues and corresponding eigenfunctions are derived. On the basis of the eigenfunction expansion we derive a finite dimensional modal model. To compensate the spillover instability caused by residual modes which are neglected at the finite dimensional modal model design phase, an optimum controller with low-pass property is constructed. Simulation and experiments have been carried out and the results confirm that the controller perform well.
神戸市立工業高等専門学校の論文
2002-03-01