Affiliation:
1. Dipartimento di Tecnica e Gestione dei Sistemi Industriali (DTG), Università degli Studi di Padova, Padova, Italy
Abstract
This paper develops and validates experimentally a feedback strategy for the reduction of the link deformations in rest-to-rest motion of mechanisms with flexible links, named Delayed Reference Control (DRC). The technique takes advantage of the inertial coupling between rigid-body motion and elastic motion to control the undesired link deformations by shifting in time the position reference through an action reference parameter. The action reference parameter is computed on the fly based on the sensed strains by solving analytically an optimization problem. An outer control loop is closed to compute the references for the position controllers of each actuator, which can be thought of as the inner control loop. The resulting multiloop architecture of the DRC is a relevant advantage over several traditional feedback controllers: DRC can be implemented by just adding an outer control loop to standard position controllers. A validation of the proposed control strategy is provided by applying the DRC to the real-time control of a four-bar linkage.
Subject
Mechanical Engineering,Mechanics of Materials,Geotechnical Engineering and Engineering Geology,Condensed Matter Physics,Civil and Structural Engineering
Cited by
3 articles.
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