Characterization of Joint Nonlinear Stiffness and Damping Behavior for InverseDynamics of Flexible Articulated Structures

摘要

An inverse dynamics algorithm is derived for active vibration quenching ofstructures. 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.