ケーブルを有した機械システムの運動解析および制御に関する研究

抄録

It is not easy to control position and attitude of mechanical systems with cables or tethers, because tension and inertia of the cables become disturbances, which greatly affect the behavior of the mechanical system. However, there is not enough studies on the control of such a mechanical system with cable. In this study, the cable is expressed by absolute nodal coordinate formulation (ANCF) which is one of the nonlinear finite element methods. Control law is proposed by the use of the structure of obtained model. The proposed method controls the mechanical system so that the influence of the tether is compensated. In order to achieve the proposed control law, state variables of the cable are estimated by Kalman filter and state feedback controller is designed. Numerical analyses are carried out for evaluation of the proposed method.