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首页> 外文会议>7th Biennial Conference on Engineering Systems Design and Analysis 2004(ESDA 2004) vol.1: Advanced Energy Systems; Advanced Heat Transfer in Engineering Systems; ... >CONTROL OF TWO-LINK FLEXIBLE STRUCTURES
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CONTROL OF TWO-LINK FLEXIBLE STRUCTURES

机译：两连杆柔性结构的控制

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摘要

A method of noncollocated controller design for non-uniform flexible structures, governed by the wave equation, is proposed. An exact, infinite dimensional, transfer function, relating the actuation and measurement points, with general boundary conditions, is derived for the multi-link case. Three modeling methods are presented and discussed. A key element of the model is the existence of time delays, due to the wave motion, which play a major role in the controller design. The design consists of two stages. First an inner rate loop is closed in order to improve the system dynamic behavior. It leads to a finite dimensional plus delay inner closed loop, which is the equivalent plant for the outer loop. In the second stage an outer noncollocated position loop is closed. It has the structure of an observer - predictor control scheme to compensate for the response delay. The resulting overall transfer function is second order, with arbitrarily assigned dynamics, plus delay.
机译：提出了一种基于波动方程的非均匀柔性结构非共置控制器设计方法。对于多连杆情况，得出了精确的，无穷大的传递函数，将驱动点和测量点与一般边界条件相关联。提出并讨论了三种建模方法。该模型的关键要素是由于波动引起的时间延迟的存在，这在控制器设计中起着重要作用。设计包括两个阶段。首先，内部速率环路是封闭的，以改善系统的动态行为。它导致一个有限维加延迟的内部闭环，这是外部环路的等效工厂。在第二阶段中，外部非并置位置环被关闭。它具有观察者的结构-补偿响应延迟的预测器控制方案。最终产生的整体传递函数是二阶的，具有任意分配的动力学以及延迟。

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