Institute of Engineering and Computational Mechanics
Control of
Flexible Multibody Systems
Project Description
Figure 1: Closed
loop control structure
Modern machines, especially robot systems, must be able to operate at very high
speeds. In order to optimize the necessary energy consumptions, such systems
typically consist of lightweight components. The resultant reduction of the
mass to be moved, however, goes hand in hand with the now much higher
structural flexibility of the mechanical components. The compliance with the
energy efficiency therefore requires a complex control strategy to correct
errors that directly result from the deformation of the moving parts.
In this project, unconventional control algorithms to control the deformations
in flexible multibody systems are analyzed with respect to their practical
applicability. The focus is on those concepts that exploit the special
structure of such systems and thus provide a special insight into their
mathematical processes. An example of one of these concepts is the singular
perturbation method which allows to devide the system into subsystems with
different time scales, i.e. into systems whose dynamics are very different from
each other. Based on this classification, the controller design and stability analysis of the loop are performed.