2015 年 81 巻 826 号 p. 15-00027
Absolute Nodal Coordinate Formulation (ANCF) is a kind of finite element method for the flexible multibody system with large deformation and large rotation. While there are few studies which extract controllers from the mathematical expressions derived by ANCF, a robust controller design procedure using ANCF model was proposed by author. The proposed controller design method has a drawback that the controller performance depends on number of elements used in ANCF model, and larger number of the elements leads to inefficient design procedure. Therefore, the main aim of this study is to propose a dimension reduction method of a controller design procedure proposed by author's previous study. 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, dimension reduction based on component mode synthesis is employed, and some modifications of the ANCF model are introduced for the effective application of dimension reduction. The validity of the proposed method is demonstrated by numerical simulations.
