بهینه سازی ساختار مکانیکی در حداقل زمان کنترل حرکت بدن انعطاف پذیر
|کد مقاله||سال انتشار||تعداد صفحات مقاله انگلیسی||ترجمه فارسی|
|63365||2015||9 صفحه PDF||سفارش دهید|
Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)
Journal : Automatica, Volume 62, December 2015, Pages 213–221
This paper considers the problem of minimum-time motion control of a flexible body for which the dynamic properties can be optimized within a structural design. This allows a matching of modal characteristics to a control task such that reductions in time-of-motion can be achieved compared with unoptimized designs. The problem formulation is based on an elastic structure undergoing a motion task with specified boundary conditions and subject to limits on actuation forces. A numerical method for calculating minimum-time control input solutions based on an iterative construction of the reachable set is first considered. A structural optimization approach is further developed based on continuity properties of the solution set, these admitting a first order perturbation analysis from which an optimization of system design parameters can be achieved. A selection of numerical case studies are presented involving single and multi-mode structures. Possibilities for realization of the approach using variable stiffness/deformable structures are discussed and results from a linear motion stage with tunable-stiffness flexible armature presented that demonstrate the potential benefits.