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首页> 外文期刊>Meccanica: Journal of the Italian Association of Theoretical and Applied Mechanics >Vibration reduction in a flexible-link mechanism through synthesis of an optimal controller
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Vibration reduction in a flexible-link mechanism through synthesis of an optimal controller

机译：通过综合最优控制器来减少柔性连杆机构中的振动

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摘要

In this paper, reduction of vibration of a flexible planar mechanism is achieved through synthesis of an optimal controller. A finite element model, based on the equivalent rigid-link system theory, is used to accurately describe the dynamic behavior of the system. The model, which accounts for geometric and inertial nonlinearities of the mechanism, has been fully validated through experimental tests. In order to be able to employ the classical optimal control theory, a suitable linear model has been derived from the original one by means of a suitable linearization procedure. Vibration reduction can then be obtained by first defining an adequate performance index, which accounts for vibration amplitude, then by solving Riccati's equation in order to find the controller that minimizes the performance index, i.e. the optimal controller. The results of several tests that have been carried out are also reported, to show the effectiveness of the synthesized control system.
机译：在本文中，通过综合最优控制器来实现柔性平面机构的振动减小。基于等效刚性连杆系统理论的有限元模型用于精确描述系统的动态行为。该模型考虑了机构的几何和惯性非线性，已经通过实验测试得到了充分验证。为了能够采用经典的最优控制理论，已经通过合适的线性化过程从原始模型中导出了合适的线性模型。然后可以通过以下方法获得减振效果：首先定义一个考虑振动幅度的适当的性能指标，然后通过求解Riccati方程来找到使性能指标最小的控制器，即最佳控制器。还报告了已进行的几次测试的结果，以显示综合控制系统的有效性。

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