| 旋转梁的动力学建模及其反馈控制 |
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| 引用本文： | 张青斌,唐乾刚,秦子增.旋转梁的动力学建模及其反馈控制[J].上海航天,2001,18(4):11-14,18. |
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| 作者姓名： | 张青斌 唐乾刚 秦子增 |
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| 作者单位： | 国防科技大学航天与材料工程学院, |
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| 基金项目： | 国家"863”应用基础研究项目基金资助(863-2) |
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| 摘 要： | 利用哈密尔顿原理,推导了刚柔耦合形式的旋转欧位－伯努利梁的动力学方程,并在小转速的假设下,给出了线性化近似方程的解析解;讨论了由直流电机和压电陶瓷组成的控制系统,并从动力学稳定的角度出发,利用Lyapunov第一方法设计系统的反馈控制实现了动力学稳定性。最后通过计算机仿真证明控制策略的有效性。
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| 关 键 词： | 旋转梁 动力学建模 反馈控制 哈密尔顿原理 计算机仿真 Lyapunov第一方法 飞行器 柔性结构 航天器 |
| 文章编号： | 1006-1630(2001)04-0011-04 |
Dynamic Modeling and Feedback Control of Rotating Beam |
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| ZHANG Qing bin,TANG Qian gang,QIN Zi zeng.Dynamic Modeling and Feedback Control of Rotating Beam[J].Aerospace Shanghai,2001,18(4):11-14,18. |
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| Authors: | ZHANG Qing bin TANG Qian gang QIN Zi zeng |
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| Abstract: | Based on the Hamilton's extended principle, the dynamical equation of a rigid flexible rotating beam is developed in this paper. The coupling between bending and rigid modes has been considered in these equation. A discretized model suited for those kinds of low speed rotation of beam is presented. The control system consists of two actuators: One is a DC servo motor at the joint and the other is a distributed piezoelectric film actuator bonded on the surfaces of the beam. A feedback control law has been developed via Lyapunov's direct method to reach dynamic stablity. Numerical simulation has been done and the results are of good efficiency. |
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| Keywords: | Rotating beam Intelligent control Dynamic modeling Feedback control |
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