Dynamics of Controlled Mechanical Systems

1. Front Matter

   Pages I-XIV

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2. Modeling

   1. Front Matter

      Pages 1-1

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   2. Model Verification by Experiments with Finite Effect Sequences (FES)

      • J. Ackermann, P. Wirth

      Pages 3-14

   3. Modeling the Dynamics of a Complete Vehicle with Nonlinear Wheel Suspension Kinematics and Elastic Hinges

      • Manfred Hiller

      Pages 15-28

   4. Computer Aided Formulation of Equations of Motion

      • T. R. Kane

      Pages 29-36

   5. State Equations of Motion for Flexible Bodies in Terms of Quasi-Coordinates

      • Leonard Meirovitch

      Pages 37-48

3. Design Tools

   1. Front Matter

      Pages 49-49

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   2. Simulation, Test and Diagnostics Integrated for a Safety Design of Magnetic Bearing Prototypes

      • D. Diez, G. Schweitzer

      Pages 51-62

   3. Hardware - Software Interfaces for Dynamical Simulations

      • W. O. Schiehlen

      Pages 63-74

4. Graphical Tools

   1. Front Matter

      Pages 75-75

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   2. Towards Graphical Programming in Control of Mechanical Systems

      • Georg E. Maier

      Pages 77-90

   3. Graphical Verification of Complex Multibody Motion in Space Applications

      • P. Putz

      Pages 91-104

5. Examples for the Dynamics of Controlled Mechanical Systems

   1. Front Matter

      Pages 105-105

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   2. Active Vibration Control of a Cantilever Beam by a Piezoelectric Ceramic Actuator

      • M. Chiba, J. Tani, G. Liu, F. Takahashi, S. Kodama, H. Doki

      Pages 107-117

   3. Fiber Connected Tug of War

      • K. Furuta, M. Yamakita, N. Sugiyama, K. Asaka

      Pages 119-133

   4. Structure of Magnetic Bearing Control System for Compensating Unbalance Force

      • Takeshi Mizuno, Toshiro Higuchi

      Pages 135-146

6. Sensors and Actuators

   1. Front Matter

      Pages 147-147

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   2. Placing Dynamic Sensors and Actuators on Flexible Space Structures

      • Gregory A. Norris, Robert E. Skelton

      Pages 149-160

7. Aerospace

   1. Front Matter

      Pages 161-161

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   2. A Simple Active Controller to Supress Helicopter Air Resonance in Hover and Forward Flight

      • P. P. Friedmann, M. D. Takahashi

      Pages 163-180

Many mechanical systems are actively controlled in order to improve their dynamic performance. Examples are elastic satellites, active vehicle suspension systems, robots, magnetic bearings, automatic machine tools. Problems that are typical for mechanical systems arise in the following areas: - Modeling the mechanical system in such a way that the model is suitable for control design - Designing multivariable controls to be robust with respect to parameter variations and uncertainties in system order of elastic structures - Fast real-time signal processing - Generating high dynamic control forces and providing the necessary control power - Reliability and safety concepts, taking into account the growing role of software within the system The objective of the Symposium has been to present methods that contribute to the solutions of such problems. Typical examples are demonstrating the state of the art It intends to evalua~ the limits of performance that can be achieved by controlling the dynamics, and it should point to gaps in present research and areas for future research. Mainly, it has brought together leading experts from quite different areas presenting their points of view. The International Union of Theoretical and Applied Mechanics (lUTAM) has initiated and sponsored, in cooperation with the International Federation of Automatic Control (IF AC), this Symposium on Dynamics of Controlled Mechanical Systems, held at the Swiss Federal Institute of Technology (ETH) in Zurich, Switzerland, May 3D-June 3, 1988.

• Dynamic Modeling
• control
• control system
• programming
• robot
• robotics
• robust control
• safety
• sampling rate
• sensor
• sensors
• simulation
• software
• stability

• Institute of Mechanics, ETH-Zentrum, Zurich, Switzerland

  G. Schweitzer

• Institute of Automatic Control, ETH-Zentrum, Zurich, Switzerland

  M. Mansour

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