柔軟構造物のテンドン制御における構造/制御系の統一的設計法

概要

論文の詳細を見る
This paper presents an approach to the integrated structural and control design of the tendon control system for flexible structures. The tendon control system is an active vibration control system using tensile cables and electrodynamic actuators. The proposed method designs the stiffness parameters of the flexible cables so that the dynamics of the tendon system may function as a dynamic compensator for frequency-shaping the feedback control force. Thereby it provides the closed-loop system with improved stability robustness with respect to the mode truncation errors outside the passband. This approach allows the designer to obtain an efficient and stable reduced-order controller for the tendon control of highly flexible structures. The results of the numerical simulations and hardware experiment show the usefulness of the proposed design approach.
一般社団法人日本機械学会の論文
1994-06-25