IUTAM Symposium on Interaction between Dynamics and Control in Advanced Mechanical Systems: Proceedings of the IUTAM Symposium held in Eindhoven, The Netherlands, 21–26 April 1996

457 Pages·1997·16.24 MB·English

by  Suguru Arimoto (auth.)

IUTAM SYMPOSIUM ON INTERACTION BETWEEN DYNAMICS AND
CONTROL IN ADVANCED MECHANICAL SYSTEMS
SOLID MECHANICS AND ITS APPLICATIONS
Volume 52
Series Editor: G.M.L. GLADWELL
Solid Mechanics Division, Faculty ofE ngineering
University ofW aterloo
Waterloo, Ontario, Canada N2L 3Gl
Aims and Scope of the Series
The fundamental questions arising in mechanics are: Why?, How?, and How much?
The aim of this series is to provide lucid accounts written by authoritative research
ers giving vision and insight in answering these questions on the subject of
mechanics as it relates to solids.
The scope of the series covers the entire spectrum of solid mechanics. Thus it
includes the foundation of mechanics; variational formulations; computational
mechanics; statics, kinematics and dynamics of rigid and elastic bodies; vibrations
of solids and structures; dynamical systems and chaos; the theories of elasticity,
plasticity and viscoelasticity; composite materials; rods, beams, shells and
membranes; structural control and stability; soils, rocks and geomechanics;
fracture; tribology; experimental mechanics; biomechanics and machine design.
The median level of presentation is the first year graduate student. Some texts are
monographs defining the current state of the field; others are accessible to fmal
year undergraduates; but essentially the emphasis is on readability and clarity.
For a list ofr elated mechanics titles, see final pages.
IUTAM Symposium on
Interaction between
Dynamics and Control
in Advanced
Mechanical Systems
Proceedings of the lUTA M Symposium
held in Eindhoven, The Netherlands,
21-26 April1996
Edited by
D. H. VAN CAMPEN
Department ofM echanical Engineering,
Eindhoven University ofTechnology,
Eindhoven, The Netherlands
SPRINGER-SCIENCE+BUSINESS MEDIA, B.V.
A c.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN 978-94-010-6439-2 ISBN 978-94-011-5778-0 (eBook)
DOI 10.1007/978-94-011-5778-0
Printed on acid-free paper
AH Rights Reserved
© 1997Springer Science+Business Media Dordrecht
Originally published by Kluwer Academic Publishers in 1997
Softcover reprint of the hardcover lst edition 1997
No part of the material protected by this copyright notice may be reproduced or
utilized in any form or by any means, electronic or mechanical,
including photocopying, recording or by any information storage and
retrieval system, without written permission from the copyright owner.
CONTENTS
Preface .........................................................x iii
Contributed Papers
S. Arimoto
Nonlinear Position-Dependent Circuits: A Language for Describing Motions
of Nonlinear Mechanical Systems ................................ .
A. K. Bajaj, I. T. Georgiou and M. Corless
Dynamics of Singularly Perturbed Nonlinear Systems with
Two Degrees-of-Freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 9
E Barreto, F. Casas, C. Grebogi and EJ. Kostelich
Control of Chaos: Impact Oscillators and Targeting .................... 17
V. V.Beletsky and O.P.Salimova
Hill's Problem as a Dynamic Billiard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 27
V. Berbyuk
Dynamics and Optimal Control Problems for Biotechnical Systems
"Man-Prosthesis" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 35
S. R. Bishop and D.L. Xu
Control of the Parametrically Excited Pendulum . . . . . . . . . . . . . . . . . . . . . .. 43
R. Bogacz and T. Szolc
On Simulation of Active Control of Structures under Travelling Inertial Loads.. 51
R. Caracciolo, E Ceresole, A. Gasparetto and M. Giovagnoni
Accurate Modelling of a Controlled Pneumatic Actuator
with Experimental Validation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 59
F.L. Chernousko
Design of Control under Mixed Constraints .......................... 67
T.H. Chin
New Drive for Motion Control: Survey of the Techniques of
Vector-Controlled Induction Motors without Speed Sensors. . . . . . . . . . . . . .. 75
K Czolczynski, T. Kapitaniak and J. Brindley
Controlling Hopf Bifurcation in Mechanical Systems .. . . . . . . . . . . . . . . . . .. 83
A. P. Darby and S. Pellegrino
Active Alignment Control of a Payload Using Non-Linear,
Long Stroke Actuators ......................................... 91
vi
A De Carli and L. Onotri
A Benchmark Example to Qualify a Control Strategy for Motion Control . . . . . . 101
M. Ding
Controlling Chaos in a Temporally Irregular Environment
and Its Application to Engineering Systems . . . . . . . . . . . . . . . . . . . . . . . . . . 100
R. Fag/ia
Motion Planning Strategies to Improve the Dynamic Behaviour
of Controlled Mechanical Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 9
C. Giihler, M. Mohler and R. Herzog
Multivariable Identification of Active Magnetic Bearing Systems ........... 127
M.F. Heertjes, M.J.G. van de Molengraft, J.J. Kok, R.H.B. Fey and E.L.B. van de Vorst
Vibration Control of a Nonlinear Beam System . . . . . . . . . . . . . . . . . . . . . . .. 135
G.H.M. van der Heijden, AR. Champneys and J.M. T. Thompson
Homoclinic Bifurcation and Localised Torsional Buckling of Elastic Rods .... 143
H.Y. Hu
Controlling Chaotic Motion of a Mechanical System with a Set-up Elastic Stop 151
H. Irschik, K Schlacher and W. Haas
Output Annihilation and Optimal H2-Control of Plate Vibrations by Multiple
Piezoelectric Actuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 159
R. Kasper
Objectoriented Modelling and Simulation of Mechatronic Systems . . . . . . . . .. 167
P. K. Kiriazov
Robust Decentralized Control of Multibody Systems ................... 175
K. Gr. Kostadinov and G. V. Boiadjiev
Dynamic Modelling of Impedance Controlled Drives for Positioning Robots ... 183
A de Kraker, G. Verbeek and N. van de Wouw
Parameter Identification in Nonlinear Models Using Periodic Equilibrium States 191
R. Krause, D. Bestle and J. Schwalm
Optimization of an Actively Steered People Mover . . . . . . . . . . . . . . . . . . . .. 199
E. Kreuzer and O. Kust
Controlling Torsional Vibrations through Proper Orthogonal Decomposition ... 207
P. MaiBer, G. Kielau, O. Enge and H. Freudenberg
Dynamics and Control of Discrete Electromechanical Systems ............ 215
H. Mann and Z. Ufednfcek
A Two-level Control-Design Methodology and
a Software Toolset for Mechatronics .............................. 223
vii
R. Mettin
Entrainment Control of Chaos near Unstable Periodic Orbits .............. 231
S.A.Mikhailov and P.e. Muller
Near-Time-Optimal Feedback Control of Mechanical Systems
with Fast and Slow Motions ..................................... 239
P. C. Muller
Optimal Control of Mechanical Descriptor Systems ..................... 247
H. Nijmeijer
Adaptive/Robust Control of Chaotic Systems . . . . . . . . . . . . . . . . . . . . . . . . . 255
S.S. Oueini and AH. Nayfeh
Experimental Implementation of Saturation Control . . . . . . . . . . . . . . . . . . . . . 263
F. Peterka and O. Szollos
Dynamics of the Opposed Pile Driver 271
N.B.O.L. Pettit, PE Wellstead and R. Wilson-Jones
The Analysis and Stability of Piecewise Linear Dynamical Systems ........ 279
F. Pfeiffer
Grasping Optimization and Control ................................ 287
A Pirrotta and R.A Ibrahim
Experimental Investigation of Random Vibration Control through Dry Friction .. 303
D. Pogorelov
Some Developments in Computational Techniques in Modeling Advanced. . . . 313
Mechanical Systems
I. Pratt and R. M. Goodall
Optimisation of Non-linear Inter-Vehicle Active Suspension Control Laws
Applied to Railway Trains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
M. Radel?
Actuator and Sensor Location for Structural Identification and Control ....... 329
G. Rega, F. Benedettini and R. Alaggio
Experimental and Theoretical Investigation of Nonlinear Dynamics
in an Elastic System with Initial Curvature ........................... 337
wo.
Schiehlen and U.N. Petersen
Control Concepts for Lateral Motion of Road Vehicles in Convoy .......... 345
K Schlacher, H. Irschik and A Kugi
Control of Nonlinear Beam Vibrations by Multiple Piezoelectric Layers ...... 355
R.S. Sharp
Decoupling in Automotive Active Suspension System Design ............. 363
viii
E. Slivsgaard and H. True
Dynamics of a Single-Axle Steered Bogie ........................... 375
M. Steinbuch and M.J. Vervoordeldonk
Control Design for a Pick-and-Place Mechanism ...................... 383
G. stepan, E. Enikov and G. Haller
Dynamics of Digitally Controlled Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
K. -D. Tieste and K. Popp
Load Adaption of a Linear Maglev Guide for Machine Tools ... . . . . . . . . . . . 399
H. Ulbrich, J. Bormann, K.-H. Stenvers and U.Mutzberg
Active Decoupling of Dynamic Structure-Foundation Interactions .......... 407
J. de Weger, D. Binks, J. Molenaar and W. van de Water
Universal Bifurcations in Impact Oscillators .......................... 417
P.M.R. Wortelboer
Model-Based Low-Order Control Design for Mechanical Servo-Systems:
Closed-loop Balanced Reduction and the Use of Weighting Functions ...... 425
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 433
Addresses of Participants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
List of Sponsors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

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~
A.HW.M. Kuljpers K. Czolczynski A. Pirotta T. Kapitanlak M.E. Davies F. Benedettini M. Rad\!s SA Mikhailov H. Ulbrich L. van Wijngaarden A. De Carli W. Schiehlen S. Arimoto W.L. iOsmeijer A.H. Nayfeh P.C. MOiler G. Stephan 96
37. 38. 39. 40. 41. 42. 43. 44. 45. 82. 83. 84. 85. 86. 87. 88. 89. 19
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H. Nljmeljer 28. E.J. Kostelich 29. K. Schlacher 30. M. Ding 31. P. Mail1er 32. E. Kreuzer 33. True 34. H. 35. D.A. Tortorelli 36. C. Vanmarsenille O. Kust 73. 74.1. Pratt 75. T.-H. Chin 76. Z.L. Lutsenko 77. L. Rad\!s 78. A.C. van Campen-79. J. Brindley 80. F.L. Chernousko 81. D.H. van Campen 21-26

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H. Hu 19. S.R. Bishop 20. H. Irschik 21. D. Pogorelov 22. O.P. Salimova 23. V.v. Beletsky 24. F.E. Veldpaus 25. 26. J.G.A.M. van Heck 27. G.H.M. van der Heij 64. Ch. Schiehlen 65. M. Steinbuch 66. G. Rega 67. K. Kostadinov 68. P. Kiriazov 69. RA. Ibrahim 70. D. Bestle 71. K. Popp 72. J.P. Meijaard Eindho

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10. M.F. Heertjes A. Dequidt 11. J. van der Loolj 12. M. de Pater 13. A.D. de Pater 14. R.H.B. Fey 15. 16. D.l. Grozeva 17. P.M.R Wortelboer 18. M.H.L.H. Kusters 55. K. Nederveen 56. C.M. Neervoort-Sanders 57. M.HW. van Boxtel-Rieken 58. A.K. Bajaj R. 59. Ulbrich 60. C. Grebogi 61. H. Mann 62. U. Dressler 63. L.F.P. Etman ymposium ID
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aft M
J.G. de Weger 1. K. Pottie 2. N.B.O.L. Pettit 3. 4. R Mettin 5. RS. Sharp M.J.G. van de Molengr6. 7. M.J.M. Strik 8. L.H.G. Wouters 9. A. Darby 46. F. Peterka 47. V.E. Berbyuk 48. TAG. Heeren 49. W.E. Seemann 50. H.J. Pradlwarter W. van de Water 51. A. de Kraker 52. 53. E.L.B. van de Vorst 54. N. van de Wouw ~IU~