学術雑誌論文

スマート化フレキシブルリンク機構における運動と振動の制御

Motion and Vibration Control of Flexible-Link Mechanism with Smart Structure

jpn

03875024

社団法人日本機械学会

日本機械学會論文集. C編

659

2173

2180

2001-07-25

Version of Record

[No.00-1234]

This study is concerned with the motion and vibration control strategy for the flexible-link mechanism in order to achieve the high performance and stability. Reducing vibration and making positioning time faster are simultaneously required in this system. Technology of smart structures is introduced in the flexible-link system to achieve the vibration reduction. The smart flexible-link is composed of the flexible-link and the piezoelectric film which has the sensor/actuator function for itself, and so its mechanism is extremely suitable for controlling the vibration. First, a modeling method of the flexible multibody systems is presented based on modal analysis considering the characteristics of the piezoelectric film. In this method, each flexible body modeled by FEM is transformed into the modal space at the 1st stage of the model reduction and then the total system is constructed by synthesizing each modal model and reducing it into the modal space at the 2nd stage reduction. The control system is constructed with the designed dynamic compensator based on the mixed H_2/H_∞ control problem, resulting in the enhanced performance and stability.

Article

AN00187463