Modelling and controlling one-degree-of-freedom impacts

被引：13
作者：
Tornambe, A
机构：
[1] Dipartimento di Meccanica e Automatica, Terza Université di Roma, 00146 Roma
来源：
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS | 1996年 / 143卷 / 01期
关键词：
impact model; impact control; force control; asymptotic estimation;
D O I：
10.1049/ip-cta:19960206
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of modelling and controlling a one-degree-of-freedom impact between two bodies is considered. Basic equations describing the motion of the bodies involved in the collision are derived under conditions of noncontact and contact. A control scheme is proposed on the basis of an observer that is able to asymptotically estimate the impact-induced forces and to allow their asymptotic compensation when the two bodies are in contact. A simulation test is included.
引用
收藏
页码：85 / 90
页数：6
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