プレキシブルリンク移動系の制御の研究

概要

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Large space structures (LSS) will be constructed by linking flexible structures and so will easily undergo bending vibrations while being moved by rocket engines. In this paper, mobile control and vibration control are proposed for such a mobile linked flexible system which is composed of joints, and flexible links and floating pads, by allocating 4 compressed air jet nozzle on each floating pad, and a DC motor at the joint of the linkage between the adjacent flexible link. Controlling these actuators, the flexible system should go along the supplied orbit, and the bending vibrations shuold be decreased. In order to derive the dynamics of such a linked system, the system is modelled by a lumped parameter system. Then the proposed control method is applied to a flexible system for the experiment which is totally floated by air bearings at the joints, so that there is no reaction force from the ground to the floating flexible system. Some experimental results are shown to demonstrate the effect of the proposed method.
一般社団法人日本機械学会の論文
1991-04-25