Precise control for vibration of rigid–flexible mechanical arm |
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Authors: | Deng Zichen Wang Xiaorong Zhao Yuli |
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Affiliation: | a Department of Engineering Mechanics, Northwestern Polytechnical University, Xi’an 710072, PR China;b State Key Laboratory of Structural Analysis of Industrial Equipment, Dalian University of Technology, Dalian 116023, PR China |
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Abstract: | In the present paper, based on the nonlinear dynamic equation of spacial flexible mechanical arm with dual-link bar, the method of linear quadratic control is used to eliminate the remain vibration of mechanical arm. In the process of computation, the traditional differential algorithm is replaced by the time integration method. Because of taking the more precise time-intervals in the given time-interval and avoiding a lot of computational difficulties, the method of this paper has the characteristics of high precision and unconditional stable. For a typical structure, the precise control law is obtained and the advantages of the algorithm in this paper are shown. |
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Keywords: | Precise integration method Nonlinear dynamic equation Linear quadratic optimal control |
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