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首页> 外文期刊>Applied Mechanics and Engineering >FROM ORTHOGONAL TO TANGENTIAL CONTROL OF UNDERACTUATED MECHANICAL SYSTEMS IN PARTLY SPECIFIED MOTION - A CASE STUDY ILLUSTRATION
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FROM ORTHOGONAL TO TANGENTIAL CONTROL OF UNDERACTUATED MECHANICAL SYSTEMS IN PARTLY SPECIFIED MOTION - A CASE STUDY ILLUSTRATION

机译：部分动作的机械系统从正交到切线控制的案例研究

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摘要

Underactuated mechanical systems have fewer control inputs than degrees of freedom. Their performance goal may be realization of specified in time outputs, treated as servo-constraints on the system, whose number is equal to the number of inputs. The solution to the inverse simulation problem (servo-constraint problem), that is the determination of an input control strategy that forces an underactuated system to complete the partly specified motion, is a challenging task. This is because mechanical systems may be "underactuated" in several ways and, as opposed to the passive constraint reactions which are orthogonal to the constraint manifold, the control forces may be arbitrary oriented with respect to the servo-constraint manifold. The diversity of servo-constraint problems is discussed using a simple spring-mass system mounted on a carriage, and is related to multiple issues: formulations in generalized coordinates and output-involved coordinates, orthogonal or tangential realization of servo-constraints, the arising ODE/DAE forms of the governing equations, and existence of the uncontrolled internal dynamics. Some computational issues are finally reported, with relevant simulation results for the sample case example.
机译：欠驱动机械系统的控制输入少于自由度。它们的性能目标可以是在时间输出中指定的实现，这些时间被视为系统上的伺服约束，其数量等于输入的数量。逆向仿真问题（伺服约束问题）的解决方案，即确定迫使欠驱动系统完成部分指定运动的输入控制策略，是一项艰巨的任务。这是因为机械系统可能会以几种方式“欠驱动”，并且与正交于约束歧管的被动约束反作用相反，控制力可以相对于伺服约束歧管任意定向。伺服约束问题的多样性是使用安装在车架上的简单弹簧质量系统进行讨论的，并且涉及多个问题：广义坐标和与输出有关的坐标的公式表示，伺服约束的正交或切向实现，出现的ODE / DAE形式的控制方程，以及存在不受控制的内部动力学。最后报告了一些计算问题，并给出了示例案例的相关模拟结果。

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