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

页码：85 / 90

页数：6

共 23 条

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[12]

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[13]

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[14]

RHINEHART JS, 1954, BEHAVIOUR METALS IMP