Optimal vibration control of flexible spacecraft during a minimum-time maneuver

This paper is concerned with the simultaneous maneuver and vibration control of a flexible spacecraft. The problem is solved by means of a perturbation approach whereby the slewing of the spacecraft regarded as rigid represents the zero-order problem and the control of vibration, as well as of perturbations from the rigid-body maneuver, represents the first-order problem. The zero-order control is to be carried out in minimum time, which implies bang-bang control. On the other hand, the first-order control is a time-dependent linear quadratic regulator including integral feedback and prescribed convergence rate.This research was sponsored by USAF/ASD and AFOSR Research Grant F33615-86-C-3233 monitored by Drs. A. K. Amos and V. B. Venkayya, whose support is greatly appreciated.     

Optimum design of vibrating cantilevers: A classical probem revisited

Optimum design of vibrating cantilevers is a classical problem widely used in the literature and textbooks in structural optimization. The problem, originally formulated and solved by Karihalloo and Niordson (Ref. 5), was to find the optimal beam shape that will maximize the fundamental vibration frequency of a cantilever. Upon reexamination of the problem, it has been found that the original analysis and solution procedure can be simplified and improved substantially. Specifically, the time-consuming inner loop devised for solving the Lagrange multiplier in the original work has been proved to be tolally unnecessary and thus should not be considered in the problem solution. This conclusion has led to a new set of simplified equations for the construction of iteration schemes. New asymptotic expressions for the optimum design solution have been obtained and verified by numerical results. Numerical analysis has shown a significant improvement in convergence rate by the proposed new procedure. Also some obvious numerical errors in the original paper have been identified and corrected.This work was suppoted in part by the University of Arizona Foundation and the Office of the Vice President for Research. The author is grateful to the reviewers for their valuable comments.     

弹性激励制度中各种激励方式的交互分析

弹性激励制度让员工自行选择所需的激励方式。本通过交互分析，现实模拟员工的选择行为，确定各种属性在员工选择激励方式时的相对重要性；根据员工对属性水平的喜好，对员工进行激励偏好细分；确定最受员工欢迎的激励方式组合。本所运用的方法和结果能帮助企业制定出最合适的弹性激励制度。     

考虑热应变的柔性并联空间机械臂动力学

研究考虑热应变的柔性并联空间机械臂动力学性态。用Jourdain速度变分原理建立各机械臂的动力学变分方程,在此基础上根据各物体之间的运动学约束关系,建立柔性多体系统的微分代数混合动力学方程。数值仿真结果表明,当温度升高时,机械臂的轴向约束力和中心刚体的质心运动速度均出现显著振荡,而适当减小温度变化率,可以有效地控制振幅。     

柔性系统力学中的主要课题

本文对多刚体系统力学的研究结果进行简要的小结,介绍了柔性系统的力学模型以及该领域中的主要研究课题.     

六面体单元柔性桁架结构模型与逆模型的辨识

介绍了用自适应LMS滤波器离线辨识六面体单元柔性结构模型和逆模型的方法。文中论述了自适应滤波理论和自适应逆控制之间的关系，讨论了LMS算法，并以实验法测得的六面体单元柔性结构随机振动数据为基础对其模型和逆模型进行了辨识，为进一步开展该结构的自适应逆控制研究奠定了基础。     

DISTRIBUTION OF RANDOM ELEMENTS SUBJECTED TO A FLEXIBLE BOUNDARY CONDITION

The probability distribution function of n random elements subjected to the flexible boundary condition is derived. The probability density is a descending curve and converges to a delta function as n tends to infinity. The distribution of the minimum value is discussed in context of ordered statistics.     

饱和地基上含刚核弹性圆板的竖向振动分析

基于作者提出的饱和土弹性波动方程，研究了饱和地基上含刚核弹性圆板在竖向集中谐和力作用下的振动特性。首先应用Hankel积分变换求解该饱和土波动方程，然后按混合边值条件建立起一组描述含刚核弹性圆板振动的对偶积分方程，并将其化为第二类Fredholm积分方程进行数值求解。文末给出了含刚核弹性圆板在饱和地基上振动的阻抗函数随无量纲频率a0的变化曲线，并考察了土的渗透系数，弹性板含刚域的大小以及板的柔度等参数对阻抗函数的影响，得出了一些有意义的结论。     

Dynamics and trajectory planning of a planar flipping robot

In this paper, a new planar one-legged robot model is firstly proposed, which, unlike previous one-legged robot with springy legs, consists of three revolute joints. Then a novel manner of one-legged locomotion (i.e., ballistic flip) is designed for this robot. A complete flipping gait cycle is composed of four phases: two stance phases and two flight phases. During flight phases, no active control is needed on the knee joint. Rotational motion and translational motion is decoupled from each other in flight phases. Landing of the robot is regarded as an inelastic impulsive impact. During stance phases, the robot model can be simplified as a two-degree-of-freedom rigid manipulator. Based on analysis of kinematics and dynamics of the flip robot, trajectory planning of cyclic flip gait is formulized as a problem of numerical optimization subject to nonlinear constraints such as positive reaction force of ground and finite torque of the joints. One potential application of the flipping robot is space exploration, which urgently requires the legged locomotive robots to be light-weighted and energy efficient.     

具有区域极点约束的柔性梁鲁棒H∞振动主动控制

本文基于H∞控制理论研究了传感器和作动器非同位配置情况下,柔性悬臂梁的多模态振动抑制问题。采用频域辨识方法获取低阶名义模型,合理选取加性不确定权函数和性能权函数,将鲁棒H∞控制问题转化为标准H∞控制问题。为了避免H∞控制器设计过程中产生的零极点对消问题,在求解过程中引入区域极点约束。比较了鲁棒H∞控制器和不考虑高阶未建模动态的非鲁棒H∞控制器的控制效果,实验结果表明,设计的鲁棒H∞控制器能够有效抑制柔性梁的前三阶模态振动,而且不会发生溢出问题。