دانلود مقاله ISI انگلیسی شماره 63365
ترجمه فارسی عنوان مقاله

بهینه سازی ساختار مکانیکی در حداقل زمان کنترل حرکت بدن انعطاف پذیر

عنوان انگلیسی
Mechanical structure optimization in minimum-time motion control of flexible bodies ☆
کد مقاله سال انتشار تعداد صفحات مقاله انگلیسی
63365 2015 9 صفحه PDF
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : Automatica, Volume 62, December 2015, Pages 213–221

ترجمه کلمات کلیدی
کنترل زمان بهینه، طراحی مجتمع، بهینه سازی، ساختار انعطاف پذیر
کلمات کلیدی انگلیسی
Time-optimal control; Integrated design; Optimization; Flexible structure

چکیده انگلیسی

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.