摘要
采用Lagrangian方法和Raleigh-Ritz方法对具有主动约束层阻尼(ACLD)的柔性机械臂建立动力学方程。在CPET技术基础上应用软件MISER3.2来调节系统参数,即约束阻尼层和粘弹性材料层的厚度,以解决在连续时间内优化控制的问题。
Lagrangian formulation and Raleigh -Ritz approach are employed to derive the governing equation control of a rotating flexible beam fully covered with active constrained layer damping treatment in this paper. The software package MISER3.2 which is based on CPET controls parameter through constraining the thickness of the layer and the viscoelastic material layer to derive the governing equations of motion of the non- linear time -varying system. Results show that substantial improvements are obtained with ACLD as compared to the passive constrained layer damping （PCLD） treatment.
出处
《长春工程学院学报（自然科学版）》
2008年第4期26-28,共3页
Journal of Changchun Institute of Technology：Natural Sciences Edition
基金
吉林省科技发展项目资助(20040535)
吉林省教育厅科技规划项目(200697)
关键词
柔性机械臂
主动约束层阻尼
主动控制
优化控制
flexible manipulators
active constrained layer damping
active control
optimal eontrol
