Characterization of Joint Nonlinear Stiffness and Damping Behavior for Inverse Dynamics of Flexible Articulated Structures.

Abstract

An inverse dynamics algorithm is derived for active vibration quenching of structures. The algorithm uses frequency domain techniques to compute an input function needed to produce a desired response at a particular degree of freedom. The desired response is a transition from the initial vibrating condition to a non-vibration condition. The algorithm can also be used to modify the input function to correct for system disturbances while the input function is already being applied to the system. The algorithm is demonstrated in a simulation of a simply supported beam controlled by a torque actuator at one end of the beam. The finite element method is used to discretized the equations of motion of the beam.

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Document Details

Document Type
Technical Report
Publication Date
Aug 14, 1996
Accession Number
ADA330608

Entities

People

  • Brad Paden
  • Thomas A. Trautt

Organizations

  • University of California, Santa Barbara

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Actuators
  • Algorithms
  • Computations
  • Computer Simulations
  • Convolution Integrals
  • Dynamics
  • Engineering
  • Equations Of Motion
  • Finite Element Analysis
  • Frequency
  • Frequency Domain
  • Mechanical Engineering
  • Physical Properties
  • Resonant Frequency
  • Simulations
  • Stiffness
  • Vibration

Fields of Study

  • Engineering
  • Physics

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Control Systems Engineering.
  • Molecular Photonics/Laser Physics