Wave-based control of flexible mechanical systems

被引:0
作者
O'Connor, William J. [1 ]
机构
[1] Univ Coll Dublin, Dublin 4, Ireland
来源
ICINCO 2006: PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS: ROBOTICS AND AUTOMATION | 2006年
关键词
flexible mechanical systems; robot analysis and control; slewing of space structures; active vibration control;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
There are many contexts, from space structures to disk drive heads, from medical mechanisms to long-arm manipulators, from cranes to light robots, in which it is desired to achieve rapid and accurate position control of a system end-point by an actuator working through a flexible system. The system's actuator must then attempt to reconcile two, potentially conflicting, demands: position control and active vibration damping. Somehow each must be achieved while respecting the other's requirements. Wave-based control is a powerful, relatively new strategy for this important problem that has many advantages over most existing techniques. The central idea is to consider the actuator motion as launching mechanical waves into the flexible system while simultaneously absorbing returning waves. This simple, intuitive idea leads to robust, generic, highly efficient, adaptable controllers, allowing rapid and almost vibrationless repositioning of the remote load (tip mass). For the first time there is a generic, high-performance solution to this important problem that does not depend on an accurate system model or near-ideal actuator behaviour.
引用
收藏
页码:IS27 / IS32
页数:6
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