Dynamics and control of structurally flexible multibody systems

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Title:	Dynamics and control of structurally flexible multibody systems
Author:	Chen, Jiunn-Liang
Description:	This dissertation is concerned with the dynamic modeling and control of multibody, open-chained, structurally flexible, mechanical systems where the bodies are connected by revolute joints. The equations of motion are formulated based on a matrix form of Lagrange's equations for inertial quasi-coordinates. Each body is treated as a substructure of the system. For the purposes of simulation and control, the equations of motion are separated into two sets of equations using a perturbation approach: one to describe large rigid-body motions of the articulated system and the other to describe small linear motions of the bodies about the large motions. The kinematic equations including the relationship between quasi-coordinates and Euler angles describing the motion of each joint are considered independently and used to formulate the equations of motion. Biologically natural control strategies such as Uniform Damping Control and a new approach which we call Projection PD Control are used for vibration suppression and for tracking the prescribed motions. Finally, case studies and numerical examples are performed.
Permanent Link:	http://rave.ohiolink.edu/etdc/view?acc_num=case1056383298 http://hdl.handle.net/2374.OX/16545
Date:	1992

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Now showing item 53159 of 172559