Flexible beam system dynamics modeling method with terminal quality body and control method thereof

Abstract

The invention provides a flexible beam system dynamics modeling method with a terminal quality body and a control method thereof. The flexible beam system dynamics modeling method comprises the following steps of (1) establishing a system dynamics physical model, (2) carrying out deformation description on a system, (3) establishing a double-coordinate system which facilitates system analysis, (4) carrying out stress analyzing, (5) establishing the dynamic equation of the system, (6) selecting a boundary condition, and (7) determining a control objective. According to the flexible beam system dynamics modeling method with the terminal quality body, in the condition that a beam terminal has no state feedback detection, the terminal quality body of the flexible beam system with rapid action and frequent point-to-point motion can be rapidly positioned at an object point, and a basis is provided for the realization of a subsequent controller. The flexible beam system dynamics control method with the terminal quality body is convenient and practical.

Description

Technical field [0001] The invention relates to the field of flexible beam system dynamics modeling and control methods, in particular to a type of flexible beam system dynamics modeling method with end mass bodies and its control method. It belongs to the innovative technology of dynamic modeling method and control method of flexible beam system with end mass body. Background technique [0002] In engineering technology fields such as robots, high-speed feed mechanisms, and high-speed packaging equipment, people are often concerned about the precise positioning of the end of the motion mechanism for the control of the dynamics of such flexible systems, but it is difficult to install detection devices at the end of the mechanism to obtain its response. . Therefore, we can extract a type of physical model: a flexible beam system with an end mass body, which makes fast and frequent point-to-point movement without state feedback of the end mass, and requires the end mass to be posi...

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Problems solved by technology

The usual modeling idea is to take the whole system as the research object, find out the relevant kinematics, and then substitute into appropriate dynamic equations, such as Lagrange equation, Jourdain variational principle, Hamilton variational principle, Kane equation, etc. After a series of very cumbersome and complex mathematical derivations, the dynamic equations of the system are obtained. The derivation process is lengthy and the modeling efficiency is not high, which is not conducive to the analysis of dynamics and the realization of subsequent control algorithms, and most of them consider many assumptions and approximations when modeling Processing (such as finite element method, hypothetical mode method, singular pertur

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