ANCF法に基づくモデルを利用した柔軟マルチボディシステムの制御系設計法（2次元柔軟梁の位置および振動制御の例）

抄録

Absolute Nodal Coordinate Formulation (ANCF) is a kind of finite element method for the flexible multibody system with large deformation and large rotation. There are few studies which extract controllers from the mathematical expressions derived by ANCF. The main aim of this study is to propose a controller design procedure by the use of the mathematical expression which is derived by ANCF. A flexible beam is introduced as a controlled object and the control torque is applied to one end of the beam. Control objective is to rotate the beam to the desired position as well as to suppress the residual vibration of the beam. In the proposed method, ANCF model employed in this paper is derived by the use of continuum mechanics approach. Some assumptions and manipulations of the derived ANCF model yields a suitable expression for controller design of μ -synthesis framework. The validity of the proposed method is demonstrated by numerical simulations. Furthermore, influences on control performance of controller parameters are investigated.