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所属单位：航空学院
发表刊物：NONLINEAR DYNAMICS
关键字：Quasi-time-optimal controller Absolute coordinate-based formulation Rigid-flexible multibody system PD controller
摘要：Previous studies have shown that the absolute coordinate-based formulation is an accurate modeling approach for the rigid-flexible multibody system subject to both large rotation and large deformation. However, it is almost impossible to design the complex controller for a rigid-flexible multibody system via the absolute coordinate-based formulation because of its high dimensions. The primary aim of this study is to design a quasi-optimal controller for a rigid-flexible multibody system via the absolute coordinate-based formulation. The design procedure includes two steps. As the first step, the simplified model for a rigid-flexible multibody system is established via the floating frame of reference formulation first, and then, a time-optimal controller is designed for the simplified model by using the Gauss pseudo-spectral method. In the second step, a quasi-time-optimal closed-loop tracking controller is achieved for the absolute coordinate-based formulation of the rigid-flexible multibody system by superposing a PD controller to track the pre-designed optimal trajectory. The paper presents two case studies for a hub-beam system, where only the motion of the rigid part is observable and driven. The numerical results of the two case studies well verify the effectiveness of the proposed controller.
ISSN号：0924-090X
是否译文：否
发表时间：2017-04-01
合写作者：陈提,70200091,金栋平
通讯作者：胡海岩,70200091,文浩