柔軟スマートリンク機構における運動と振動のハイブリッド制御

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  • Hybrid Control of Motion and Vibration for Smart Flexible-Link Mechanism.
  • ジュウナン スマートリンク キコウ ニ オケル ウンドウ ト シンドウ ノ ハイブリッド セイギョ

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This study is concerned with the motion and vibration control strategy for a flexible-link mechanism in order to achieve high performance and stability. Reducing vibration and making positioning time faster are simultaneously required in this system. Technology of smart structures is introduced in the flexible-link system to conduct the vibration control. The smart flexible-link is composed of the two flexible-links and the piezoelectric films which have the sensor/actuator function for itself, and so its mechanism is extremely suitable for controlling the vibration. First, a modeling method of the flexible multibody systems is presented based on a functional modeling method and modal analysis. An approach for hybrid control of motion and vibration is proposed, in which a large magnitude and slow vibration is controlled by the servomotors and a minute vibration is controlled by the piezoelectric films. The motion and vibration controller for the servomotors is designed with the mixed H2/H∞ control problem and the vibration controller for the piezoelectric films is constructed by a direct velocity feedback, resulting in the enhanced performance on the motion and vibration control.

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