| 应用软件MISER3.2对柔性机械臂进行优化控制 |
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| 引用本文： | 牟荟瑾,邹建奇. 应用软件MISER3.2对柔性机械臂进行优化控制[J]. 长春工程学院学报(自然科学版), 2008, 9(4): 26-28 |
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| 作者姓名： | 牟荟瑾 邹建奇 |
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| 作者单位： | 吉林建筑工程学院城建学院,长春,130111;吉林建筑工程学院,土木工程学院,长春,130021 |
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| 基金项目： | 吉林省科技发展项目资助(20040535)吉林省教育厅科技规划项目 |
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| 摘 要： | 采用Lagrangian方法和Raleigh-Ritz方法对具有主动约束层阻尼（ACLD）的柔性机械臂建立动力学方程。在CPET技术基础上应用软件MISER3.2来调节系统参数，即约束阻尼层和粘弹性材料层的厚度，以解决在连续时间内优化控制的问题。
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| 关 键 词： | 柔性机械臂 主动约束层阻尼 主动控制 优化控制 |
The optimal control of flexible beam |
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| MU Hui-jin,et al.. The optimal control of flexible beam[J]. Journal of Changchun Institute of Technology(Natural Science Edition), 2008, 9(4): 26-28 |
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| Authors: | MU Hui-jin et al. |
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| Affiliation: | MU Hui - jin, et al. (The City College of Jilin Architectural and Civil Engineering Institute, Changchun 130021, China) |
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| Abstract: | Lagrangian formulation and Raleigh-Ritz approach are employed to derive the governing equation control of a rotating flexible beam fully covered with active constrained layer damping treatment in this paper.The software package MISER3.2 which is based on CPET controls parameter through constraining the thickness of the layer and the viscoelastic material layer to derive the governing equations of motion of the nonlinear time-varying system.Results show that substantial improvements are obtained with ACLD as compared to the passive constrained layer damping(PCLD) treatment. |
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| Keywords: | flexible manipulators active constrained layer damping active control optimal control |
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