Dynamics of Controlled Mechanical Systems

International Union of Theoretical and Applied Mechanics

International Federation of Automatic Control

G. Schweitzer, M. Mansour (Eds.)

Dynamics of Controlled Mechanical Systems

IUTAM/IFAC Symposium, Zurich, Switzerland, May 3D-June 3,1988

Springer-Verlag Berlin Heidelberg New York London Paris Tokyo

Prof. G. Schweitzer

Institute of Mechanics ETH-Zentrum CH-8092 Zurich Switzerland

Prof. M. Mansour

Institute of Automatic Control ETH-Zentrum CH-8092 Zurich Switzerland

ISBN-13: 978-3-642-83583-4 e-ISBN-13:978-3-642-83581-0 DOl: 10.1007/978-3-642-83581-0 Library of Congress Cataloging-in-Publication Data I UTAMII FAC Symposium (1988: Zurich, Switzerland) Dynamics of controlled mechanical systems IIUTAMIIFAC Symposium, Zurich, Switzerland, May 30 -June 3,1988; G. Schweitzer, M. Mansour, eds. (lUTAM symposia) At head of title: International Union of Theoretical and Applied Mechanics.

ISBN-13:978-3-642-83583-4 (U.S.) 1. Automatic control--Congresses. 2. Machinery, Dynamics of--Congresses. I. Schweitzer, G, (Gerhard) II. Mansour, M. III. International Union of Theoretical and Applied Mechanics. IV. International Federation of Automatic Control. V.Title. VI. Series: IUTAM-Symposien. TJ212.2.187 1988 629.8--dc 19 88-31205

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216113020 543 2 1 0

Preface

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. It is the first time that these

two scientific institutions have been jointly sponsoring such an event. And there are reasons to

assume that common 'interests will lead the IFAC and the IUTAM to cosponsor another

symposium on this interdisciplinary topic within the next years.

A Scientific Committee has been appointed consisting of

J. Ackermann, Germany; P. Coiffet, France; T.R. Kane, USA;

D.M. Klimov, USSR; M. Mansour (Co-Chairman), Switzerland;

W. Schiehlen, Germany; G. Schweitzer (Co-Chairman), Switzerland;

K. Yoshimoto, Japan

VI

The Committtee suggested the participants to be invited and the papers to be presented at the

Symposium. As a result of this process, 65 active scientific participants from 11 countries

followed the invitation and 29 papers were presented. The lectures were devoted to the

following main topics:

Modeling, Typical Examples for the Dynamics of Controlled Mechanical Systems.

Design Tools, Graphical Tools, Sensors and Actuators, Aerospace, Vehicles, and

Robotics.

Some of the papers are related to more than one of these main topics. but in order to assist the

reader we have structured this volume according to the main topics, thus maintaining the

structure of the Symposium.

The lectures, giving a survey on the state of the art and presenting recent research results. show

the high level of performance and sophistication already obtained when dealing with the control

of mechanical systems. The lectures were extensively discussed. and it is expected that the

Symposium will have a stimulating effect on further research in this important and

interdisciplinary field of mechanics and control. Discussions and statements of the members of

the Scientific Committee indicate that there are necessary and promising directions where future

efforts will have to go:

- Improvements of the man-machine interface, including high level application oriented

programming languages, graphics, and safety aspects.

- Extension of the role of software both at the design stage and as part of the controlled

system itself making it more intelligent, capable of learning, safer and adaptable to the

needs of the human user.

- Modeling of complex mechanical systems, especially for control purposes.

The organizers' gratefully acknowledge the financial support and effective help of the following

institutions and industrial companies in the preparation of the Symposium:

International Union of Theoretical and Applied Mechanics (IUTAM)

International Federation of Automatic Control (IFAC)

Eidgedossische Technische Hochschule ZUrich (ETH ZUrich)

European Research Office of the US Army

Sulzer Brothers Ltd.

VII

A main contribution to the success of the Symposium is due to the help and excellent work of

the staff of the Institute of Mechanics of the ETH, and the Local Organizing Committee. We

thank especially Mrs G. Junker.

The editorial work of the Proceedings was supported by the Institute of Mechanics of the

ETHZ. In essence the original manuscripts submitted by the authors are reproduced. Thanks to

the Springer-Verlag are due for an agreeable and efficient cooperation.

Zurich, July 1988 G. Schweitzer M. Mansour

Participants

(Authors are identified by a * chainnan are identified by a ©)

*© Ackennann, 1., Institut fUr Dynamik der Flugsysteme, DFVLR Oberpfaffenhofen, D-8031 Oberpfaffenhofen, Gennany

* Asaka, K., Showa Electric Wire and Cable Co. Ltd., 4-1-1 Minamihashimoto, Sagamihara-sbi, Kanagawa, Japan

Badreddin, E., Institut fdr Automatik und Industrielle Elektronik, Eidgenossische Technische Hochschule, ETH-Zentrum/ETL I 28, CH-8092 ZUrich, Switzerland

Betti, F., COPE SP, Cidade Universitaria USP, Av. Prof. Lineu Prestes 2242, Sao Paulo SP, Brasil

© Brauchli, H., Institut flir Mechanik, Eidgenossische Technische Hochschule, ETH-Zentrum/HG F41, CH-8092 ZUrich, Switzerland

Buck, U., Abteilung MEMB, Dornier System GmbH, Postfach 1360, D-7990 Friedrichshafen, Germany

* Chatila, R., Laboratoire d'Automatique et d'Analyse des Systemes du CNSR, 7 avo du Colonel Roche, F-3I077 Toulouse Cedex, France

* Chiba, M., Dept. of Mechanical Engineering, Iwate University, 4-3-5 Ueda, Morioka, Japan

Cuny, B., Institut National des Sciences et Techniques Nucleaire, F-91191 Gif-sur-Yvette Cedex, France

© De Carli, A., Dipartimento di Infonnatica e Sistematica, Via Eudossiana 18, I-Roma, Italy

* Diez, D., Institut ffir Mechanik, Eidgenossische Technische Hochschule, ETH-Zentrum/LEO B1.2, CH-8092 ZUrich, Switzerland

* Fassler, H. P., Institut fUr Mechanik, Eidgenossische Technische Hochschule, ETH-~ntrum/LEO C13, CH-8092 ZUrich, Switzerland

Faye, I. C., Institut fUr Dynamik der Flugsysteme, DFVLR, D-8031 WeBling, Gennany

*© Friedmann, P. P., Mechanical, Aerospace and Nuclear Eng. Dept., University of California, 5732 Boelter Hall, Los Angeles, CA 90024, USA

*© Glattfelder, 'A. H., Corporate R&D, Sulzer Bros. Ltd., Postfach, CH-8401 Winterthur, Switzerland

* Guzzella, L., Corporate R&D, Sulzer Bros. Ltd., Postfach, CH-8401 Winterthur, Switzerland

*© Hiller, M., Fachgebiet Mechanik, Universitiit -GH- Duisburg, FB 7, LotharstraBe 41, D-4IOO Duisburg 1, Gennany

* Horiuchi, E., Mechanical Engineering Lab., Agency of Ind. Sci. and Techn., Namiki 1-2, Sakura-mura, Niihari-gun, Ibaraki-ken 305, Japan

*© Hugel, J., Elektrot. Entwicklungen und Konstruktionen, Eidgenossische Technische Hochschule, ETH-Zentrum/ETZ F96, CH-8092 Ziirich,Switzerland

*© Kane, T. R., Dept. of Applied Mechanics, Stanford University, Stanford, CA 94305, USA

*© Khatib, 0., Robotics Lab., Computer Sciences Dept., Stanford University, Stanford, CA 94305, USA

IX

*© Khosla, P. K., Dept. of EI. and Compo Eng. (Robotics Inst.), Carnegie Mellon University, Pittsburgh, PA 15213, USA

© Klimov, D. M., Institute of Mechanics, The USSR Academy of Sciences, Pr. Vernadskogo 101, UdSSR-117526 Moscow, USSR

*

*

Kokkinis, Th., Center for Robotic Systems in Microelectronics, University of California, Santa Barbara, CA 93106, USA

Komatsu, T., Mechanical Engineering Lab., R&D Center, Toshiba Corporation, 4-1 Ukishima-cho, Kawasaki-ku, Kawasaki 210, Japan

*© Kortiim, W., Institut flir Dynamik der Flugsysteme, DFVLR Oberpfaffenhofen, D-8031 WeBling, Germany

*

*

Kruise, L., Control Systems & Computer Eng. Lab., Twente University of Technology, P. O. Box 217, NL-7500 AE Enschede, The Netherlands

Maier, G. E., Corporate Research CRBC, ASEA Brown Boveri, CH-5405 Baden, Switzerland

© Mansour, M., Institut fUr Automatik und Industrielle Elektronik, Eidgenossische Technische Hochschule, ETH-ZentrumlETL I 24, CH-8092 ZUrich, Switzerland

Marcuard, J.-D., Iostitut d'Automatique, Eidgenossische Technische Hochschule, EPFL-DME-Ecublens, CH-1015 Lausanne, Switzerland

* Meirovitch, L., Dept. of Engineering Science & Mechanics, Virginia Polyt. Institute and State University, Blacksburg, VA 24061, USA

*© Miura, H., Dept. of Mechanical Engineering, The University of Tokyo,

*

Hongo 7-3-1, Bunkyo-Ku, Tokyo 113, Japan

Mizuno, T., Faculty of Engineering, Saitama University, 225 Shimo-okubo, Urawa-city, Saitama 338, Japan

*© Milller, P.C., Sicherheitstechnische Regelungs- und Messtechnik, Bergische Universitat - GH Wuppertal, Postfach 100 127, D-5600 Wuppertall, Germany

Partoni, M., Institut d'Automatique, Eidgenossische Technische Hochschule, EPFL-DME-Ecublens, CH-1015 Lausanne, Switzerland

Pierri, P. S., COPE SP, Cidade Universitaria USP, Av. Prof. Lineu Prestes 2242, 05508 Sao Paulo SP, Brasil

x

* *

Putz, P., Dornier System GmbH, Postfach 1360, D-7990 Friedrichshafen, Geonany

Qian, Z. Y., Dept. Automatic Control, Shanghai Jiao-Tong University, Shanghai, 200030, P. R. China

Ruf, W. D., Robert Bosch GmbH, Postfach 30 02 60, D-7ooo Stuttgart 30, Geonany

*© Sarychev, V. A., Keldysh Institute of Applied Mathematics, USSR Academy of Sciences, Miusskaja Sq. 4, UdSSR-125047 Moscow, USSR

Schafer, P., Institut B fUr Mechanik, Universitlit Stuttgart, Pfaffenwaldring 9, D-7ooo Stuttgart 80, Geonany

*© Schiehlen, W., Institut B fUr Mechanik, Universitlit Stuttgart, Pfaffenwaldring 9, D-7ooo Stuttgart 80, Gennany

Schrama, R. J. P., Laboratory for Measurement and Control, Delft University of Technology, Mekelweg 2, NL-2628 CD Delft, The Netherlands

*© Schweitzer, G., Institut fUr Mechanik, Eidgen6ssische Technische Hochschule, ETH-ZentrumlHG F41, CH-8092 ZUrich, Switzerland

© Shubin, A. N., Institute of Control Sciences, Profsojuznaja ul. 65, UdSSR-117806 Moscow, USSR

*© Skelton, R. E., School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN 47907, USA

*

© Thomson, B., EW-402, BMW AG, Petuelring 130, D-8ooo MUnchen 40, Oennany

Tsuchiya, K., Central Research Laboratory, Mitsubishi Electr. Corp., 1-1 Tsukaguchi-Honmachi 8 Chorne, Amagasaki, Hyogo 661, Japan

Tuncelli, A. C., Institut d'Automatique, Eidgen6ssische Technische Hochschule, EPFL-DME-Ecublens, CH-1015 Lausanne, Switzerland

Ulbrich, H., Technische Universitlit MUnchen, Postfach 20 24 20, D-8()()() MUnchen 2, Genriany

von Hagen, A., Engineering Editor, Springer Verlag, TiergartenstmBe 17, D-69oo Heidelberg, Germany

© Weber, H.I., Lab. de Projeto Mecanico, UNICAMP-FEC-DEM, Caixa Postal 6122, 13081 Campinas-Sao Paulo, Brazil

© Wehrli, Ch., Institut fUr Mechanik, Eidgen6ssische Technische Hochschule, ETH-ZentrumlHG F41, CH-8092 ZUrich, Switzerland

* Yamakita, M., Dept. of Control Engineering, Tokyo Institute of Technology, 2-12--1 Oh-Okayama, Meguro-Ku, Tokyo 152, Japan

Yano, S., Institut fUr Mechanik (c/o Prof. Hagedorn), Technische Hochschule Dannstadt, Postfach, D-61oo Dannstadt, Germany

© Yoshimoto, K., Dept. of Mechanical Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113, Japan

© Zhao, H., Dept. of Engineering Physics, Tsinghua University, Beijing, P. R. China

Local Participants

Ledwozyw, M., Institut f. Biomedizinische Technik und Medizinische Infonnatik, Eidgenossiche Technische Hochschule, Moussonstrasse IS, CH-S044 ZUrich, Switzerland

Junker, G., Institut fUr Mechanik, Eidgenossische Technische Hochschule, ETH-ZentrumIHG F42.1, CH-S092 ZUrich, Switzerland

Scherrer, J.K., Institut fUr Mechanik, Eidgenossische Technische Hochschule, ETH-ZentrumIHG F37.6, CH-S092 Zi.irich, Switzerland

Herzog, R., Institut fUr Mechanik, Eidgenossiche Technische Hochschule, ETH-ZentrumIHG F3S.3, CH-S092 Zi.irich, Switzerland

Zumbach, M., Institut fUr Mechanik, Eidgenossische Technische Hochschule, ETH-Zentrum/LEO B1.2, CH-S092 Zi.irich, Switzerland

B1euler, H., Institut fUr Mechanik, Eidgenossische Technische Hochschule, ETH-ZentrumIHG F3S.2, CH-S092 Zi.irich, Switzerland

B1ech, J., Faculty of Mechanical Engineering, Technion - Israel Institute of Technology, 32000 Haifa, Israel

Knobloch, H.W., Universitat Wiirzburg, Wiirzburg, Gennany

XI

Contents

Modeling

Ackennann, J. and P. Wirth Model Verification by Experiments with Finite Effect Sequences.(FES) 3

Hiller, M. Modeling the Dynamics of a Complete Vehicle with Nonlinear Wheel Suspension Kinematics and Elastic Hinges ............................................. 15

Kane, T.R. Computer Aided Fonnulation of Equations of Motion ................................. 29

Meirovitch, L. State Equations of Motion for Flexible Bodies in Tenns of Quasi-Coordinates..... 37

Design Tools

Diez, D., and G. Schweitzer Simulation, Test and Diagnostics Integrated for a Safety Design of Magnetic Bearing Prototypes .. . .. .. .. ... .. .. . . .. . .. . .. .. . .. .. .. . .. ... .. .. .. .. ... . .. .. . .. . .. . . .. . .. .. . 51

Schiehlen, W.O. Hardware - Software Interfaces for Dynamical Simulations .......................... 63

Graphical Tools

Maier, G.E. Towards Graphical Programming in Control of Mechanical Systems .. . . . . . . . . . . . . . 77

Putz, P. Graphic\ll Verification of Complex Multibody Motion in Space Applications. ...... 91

Examples for the Dynamics of Controlled Mechanical Systems

Chiba, M., TanJ, J., Liu, G., Takahashi, F., Kodama, S., and H. Doki Active Vibration Control of a Cantilever Beam by a Piezoelectric Ceramic Actuator ...................................................................................... 107

Furuta, K., Yamakita, M. Sugiyama, N., and K. Asaka Fiber Connected Tug of War .............................................................. 119

Mizuno, T., and T. Higuchi Structure of Magnetic Bearing Control System for Compensating Unbalance Force ......................................................................................... 135

XIII

Sensors and Actuators

Norris G.A., and R.E. Skelton Placing Dynamic Sensors and Actuators on Flexible Space Structures .............. 149

Aerospace

Friedmann, P.P., and M.D. Takahashi A Simple Active Controller to Supress Helicopter Air Resonance in Hover and Forward Flight ....•....................•.............•...........................•..... 163

Komatsu, T., Uenohara, M., Iikura, S., Miura, H., and I. Shimoyama

Active Vibration Control for Flexible Space Environment Use Manipulators ....... 181

Sarychev, V.A., Belyaev, M.Yu., Sazonov, V.V., and T.N. Tyan Orientation of Large Orbital Stations .... . .... .. . . .. . . .. . . .. . . .. . . . . . .. . . .. . . .. . . .. . . . . .. . 193

Tsuchiya, K., Yamada K., and B.N. Agrawal Attitude Stability of a Flexible Asymmetric Dual Spin Spacecraft .................... 207

Robotics.

Fassler, H.P. Robot Control in Cartesian Space with Adaptive Nonlinear Dynamics Compensation ..................•............................................................ 221

GUrgoze, M., and P.C. MUller Modeling and Control of Elastic Robot Arm with Prismatic Joint .................... 235

Guzzella, L., and A.H. Glattfelder A Decentralized and Robust Controller for Robots ..................................... 247

Khatib, 0., and S. Agrawal Isotropic and Uniform Inertial and Acceleration Characteristics: Issues in the Design of Redundant Manipulators ....................................................... 259

Khosla, P.K. Effect of Sampling Rates on the Performance of Model-Based Control Schemes •.. ;. . . .. ... .... . . . . . .. . .. . ... . .. . . .. . .. . . . . ... . . . . . .. . . .. . ... . . . . . . . . .. . . . . . . . . . .. .. 271

Kruise, L., van Amerongen, J., LOhnberg, P., and M.J.L. Tiernego Modeling and Control of a Flexible Robot Link .. .... . .... . . .. . . ... . . .. . ... .. .. . . . .. ... 285

Lu, D., Qian, Z.-Y., and Z.-J. Zhang Decomposed Parameter Identification Approach of Robot Dynamics ................ 297

Wehrli, E., and T. Kokkinis Dynamic Behavior of a Flexible Robotic Manipulator . . . .. . .... . . . ... . . .. . . . . . . . . . . ... 309

XIV

Vehicles

Horiuchi, E., Usui, S., Tani, K., and N. Shirai Control of an Active Suspension System for a Wheeled Vehicle ..................... 323

KortUm, W., Schwartz, W., and I. Faye Dynamic Modeling of High Speed Ground Tmnsportation Vehicles for Control Design and Performance Evaluation ...................................................... 335

Laumond, J.-P., Simeon, T., Chatila, R., and G. GimIt Tmjectory Planning and Motion Control of Mobile Robots ........................... 351

Miura, H. Researches of the Biped Robot in Japan ................................................. 367