基于关节和压电作动器的平面柔性三连杆机构动力学建模与控制

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Computational and Nonlinear Dynamics Pub Date : 2023-10-18 DOI:10.1115/1.4063563

Daniel Hill

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引用次数: 0

摘要

提出了一种控制柔性平面三连杆机构末端执行器位置和姿态的新方法。采用基于Udwadia-Kalaba运动方程的方法建立了受约束系统的耦合动力学模型。利用李雅普诺夫理论建立了压电作动器的非线性控制律和无约束连杆动力学模型。通过数值仿真验证了将降阶控制器应用于高阶真值动态模型的末端执行器的系统跟踪性能。

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Dynamic Modeling and Control of a Flexible Planar Three Link Mechanism Using Joint and Piezoelectric Actuators

Abstract This paper presents a new method of controlling the end effector position and orientation of a flexible planar three-link mechanism. The coupled dynamic model was formulated using a method based on the Udwadia–Kalaba equations of motion for constrained systems. Lyapunov's theory was used to develop a nonlinear control law using piezoelectric actuators and the unconstrained link dynamic models. Numerical simulation was used to demonstrate the system tracking performance of the end effector using a reduced order controller applied to a higher order truth dynamic model.

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来源期刊

Journal of Computational and Nonlinear Dynamics 工程技术-工程：机械

CiteScore

4.00

自引率

10.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.