Composite Controller Design for Rigid-Flexible Coupling Mechanical System

Shu Qing Liu; Qian Jia; Hao Zhou

doi:10.4028/www.scientific.net/AMM.722.258

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 722Composite Controller Design for Rigid-Flexible...

Composite Controller Design for Rigid-Flexible Coupling Mechanical System

Abstract:

A dynamic model in singular perturbation form is established for the deformation and vibration of rigid-flexible coupling mechanical system due to the drive force, inertia force and gravity. This model is divided into slow subsystem and fast subsystem. A PD controller is designed for slow subsystem while optimal controller for fast subsystem and a composite controller is developed based on this. The validity of the composite controller is verified through MATLAB simulation with a flexible scissor-like deployable mechanism as an example. The results can be used in control of CNC machine, robot, spatial mechanism etc.

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Periodical:

Applied Mechanics and Materials (Volume 722)

Pages:

258-261

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.722.258

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Online since:

December 2014

Authors:

Shu Qing Liu*, Qian Jia, Hao Zhou

Keywords:

Composite Controller, Rigid-Flexible Coupling Mechanical System, Singular Perturbation

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* - Corresponding Author

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