Development of Acquisition Technique of Autonomous Distributed Control Rules for Postures and Locus of Large Scale Adaptive Structures, and Construction of Variable Geometry Truss

大型自适应结构位姿轨迹自主分布式控制规则获取技术开发及变几何桁架构建

基本信息

批准号：
08455055
负责人：
YAMAZAKI Koetsu
金额：
$ 4.99万
依托单位：
Kanazawa University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1996
资助国家：
日本
起止时间：
1996 至 1998
项目状态：
已结题

项目摘要

(1) Development of Acquisition Technique of Autonomous Distributed Control Rules for Variable Geometry Trusses : A genetic acquisition technique of autonomous distributed control rules has been developed for the posture control of arm-type variable geometry trusses(VGT), which consist of serial connection of unit truss module including variable length member and are applied working load as end effecter. This technique can acquire the control rules automatically which achieve optimum posture for any given initial postures and locus. The validity of the acquired control rules is confirmed by the numericalsimulation of adaptation.(2) Modeling of Autonomous Stabilization Rule of Variable Geometry Truss against Dynamic Loading : A genetic acquisition technique of autonomous distributed control rules of vibration suppression against the disturbance and vibration caused by inertia force during adaptation has been developed for VGT equipped sensors and active dumpers in each module.(3) Construction of Three-Dimensional Variable Geometry Truss : A three-dimensional truss structure which consists of five octahedral truss module of six fixed members and three variable members with sensors is constructed. The variable length members are realized by the ball screw and stepping motor, and the autonomous distributed control has been implemented by sensing the end effecter position by a pair of CCD camera. The validity of the control rule for attaining the maximum stiffness posture has been confirmed experimentally.

(1) 变几何桁架自主分布式控制规则获取技术的开发：针对臂式变几何桁架(VGT)的位姿控制，开发了一种自主分布式控制规则遗传获取技术。单元桁架模块包括可变长度构件，并作为末端执行器施加工作负载。该技术可以自动获取控制规则，从而对于任何给定的初始姿势和轨迹实现最佳姿势。自适应数值仿真验证了所获得的控制规则的有效性。(2) 变几何桁架抗动载荷自主稳定规则建模：一种针对动载荷引起的扰动和振动的振动抑制的自主分布式控制规则的遗传获取技术为每个模块中配备 VGT 的传感器和主动翻斗车开发了适应过程中的惯性力。 (3) 三维可变几何桁架的构造：由五个八面体组成的三维桁架结构构建了六个固定构件和三个带有传感器的可变构件的桁架模块。可变长度构件由滚珠丝杠和步进电机实现，并通过一对CCD相机感知末端执行器位置来实现自主分布式控制。实验证实了获得最大刚度姿势的控制规则的有效性。