建模和Micro-Radian精密指向一个更灵活
建模和Micro-Radian精密指向一个更灵活(中文10000字+英文6600字)
Abstract-Controlling挠性结构已被认为是一个完整的话题控制领域。在这个话题,振动抑制和视线(洛杉矶)指向是两种主要研究问题。不幸的是,所有的作品中,只有很少的真正实现高水平的指向的精度。这主要是由于摩擦,尤其是静态摩擦力,很难打交道。在这项研究中,洛杉机的控制系统的柔性梁的标准hub-beam系统的研究。
而作为外部噪音的治疗摩擦,试图弥补它,摩擦现象是由一个线性弹簧和包含作为部分的系统模型在毂粘住了。这是一个好的近似的滞摩擦的行为在相若弹簧刚度是美联社选择，这个修改,大大增强了这个系统的模型。更重要的是,它使得ac -有效管制仍然在贴阶段的微调,基于该模型,然后对传统proportional-integral-derivative合成和线性二次型高斯控件来得到洛用microradian精度。
Terms-Disturbance隔离,柔性结构指标的控制(FSC),配合LOS导引控制、精密定位、静态、振动抑制。
Modeling and Micro-Radian Precision Pointing of a Flexible
Manipulator With the Existence of Static Friction
Abstract—Controlling flexible structures has been considered as a well-developed topic in the control field. In this topic, vibration suppression and line-of-sight (LOS) poting arein two of the main research issues. Unfortunately, among all works reported, only a few have really achieved high levels of pointing precision. This is mainly because friction, especially static friction, is hard to deal with. In this research, the LOS control of the flexible beam of a standard hub-beam system is studied. The precision required is instead of treating friction as an external noise and trying to compensate for it, the friction phenomenon is represented by a linear spring and is included as part of the system model when the hub sticks. This is, in fact, a good approximation of the hysteretic friction behavior in the presliding phase if the spring stiffness is ap- propriately chosen. This modification greatly enhances the fidelity. [版权所有：http://DOC163.com]
Of the system model. What is more important is that it makes ac- tive controls still available in the stick phase to facilitate the fine tuning of the pointing error. Based on this modified model, it is then not hard to synthesize traditional proportional–integral–derivative and linear quadratic Gaussian controls to get LOS pointing with microradian precision.
Index Terms—Disturbance isolation, flexible structure control (FSC), line-of-sight (LOS) control, precision positioning, static fric- tion, vibration suppression.
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