Many mechanical systems are actively controlled in order to improve their dynamic performance. Examples are elastic satellites, active vehicle suspension systems, robots, magnetic bearings, automatic machine tools. Problems that are typical for mechanical systems arise in the following areas: - Modeling the mechanical system in such a way that the model is suitable for control design - Designing multivariable controls to be robust with respect to parameter variations and uncertainties in system order of elastic structures - Fast real-time signal processing - Generating high dynamic control forces and providing the necessary control power - Reliability and safety concepts, taking into account the growing role of software within the system The objective of the Symposium has been to present methods that contribute to the solutions of such problems. Typical examples are demonstrating the state of the art It intends to evalua~ the limits of performance that can be achieved by controlling the dynamics, and it should point to gaps in present research and areas for future research. Mainly, it has brought together leading experts from quite different areas presenting their points of view. The International Union of Theoretical and Applied Mechanics (lUTAM) has initiated and sponsored, in cooperation with the International Federation of Automatic Control (IF AC), this Symposium on Dynamics of Controlled Mechanical Systems, held at the Swiss Federal Institute of Technology (ETH) in Zurich, Switzerland, May 3D-June 3, 1988.

Klappentext

This book contains selected contributions to a symposium whose aim was to present methods which contribute to the solutions of typical problems with mechanical systems. The limits of performance that can be achieved by controlling dynamics were evaluated, and gaps in present research and areas for future research were indicated. Leading experts from quite different areas presented their points of view.

Inhalt
Modeling.- Model Verification by Experiments with Finite Effect Sequences.(FES).- Modeling the Dynamics of a Complete Vehicle with Nonlinear Wheel Suspension Kinematics and Elastic Hinges.- Computer Aided Formulation of Equations of Motion.- State Equations of Motion for Flexible Bodies in Terms of Quasi-Coordinates.- Design Tools.- Simulation, Test and Diagnostics Integrated for a Safety Design of Magnetic Bearing Prototypes.- Hardware - Software Interfaces for Dynamical Simulations.- Graphical Tools.- Towards Graphical Programming in Control of Mechanical Systems.- Graphical Verification of Complex Multibody Motion in Space Applications.- Examples for the Dynamics of Controlled Mechanical Systems.- Active Vibration Control of a Cantilever Beam by a Piezoelectric Ceramic Actuator.- Fiber Connected Tug of War.- Structure of Magnetic Bearing Control System for Compensating Unbalance Force.- Sensors and Actuators.- Placing Dynamic Sensors and Actuators on Flexible Space Structures.- Aerospace.- A Simple Active Controller to Supress Helicopter Air Resonance in Hover and Forward Flight.- Active Vibration Control for Flexible Space Environment Use Manipulators.- Orientation of Large Orbital Stations.- Attitude Stability of a Flexible Asymmetric Dual Spin Spacecraft.- Robotics.- Robot Control in Cartesian Space with Adaptive Nonlinear Dynamics Compensation.- Modeling and Control of Elastic Robot Arm with Prismatic Joint.- A Decentralized and Robust Controller for Robots.- Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Redundant Manipulators.- Effect of Sampling Rates on the Performance of Model-Based Control Schemes.- Modeling and Control of a Flexible Robot Link.- Decomposed Parameter Identification Approach of Robot Dynamics.- Dynamic Behavior of a Flexible Robotic Manipulator.- Vehicles.- Control of an Active Suspension System for a Wheeled Vehicle.- Dynamic Modeling of High Speed Ground Transportation Vehicles for Control Design and Performance Evaluation.- Trajectory Planning and Motion Control of Mobile Robots.- Researches of the Biped Robot in Japan.