フレキシブルアーム位置制御系の動的有限要素解析 : 第1報,変断面粘性フレキシブルアームを用いた場合の有限要素定式化と動的挙動

概要

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In this paper, first, the finite element matrices of the flexible arm with variable section and viscosity are formulated by use of the variational theorem, and the matrix equation of motion of the mechanical system consisting of the flexible arm and a joint is derive(:i. Then, the governing matrix equation of the electromechanical system is obtained by coupling the equation of motion of the mechanical system with the electric current equation of the control system, and the dynamic response of the governing matrix equation is solved exactly by the Laplace transformation method. The control system is composed of a direct-current servomotor and a power amplifier as well as a position and velocity feedback circuit. Furthermore, the numerical calculations are carried out, and the effects of the variable cross section and viscosity of the flexible arm upon the dynamic behavior of the electromechanical s stem are demonstrated.
一般社団法人日本機械学会の論文
1988-03-25