Discrete time transfer matrix method for dynamics of multibody system with real-time control

Bao, Rong; Rui, Xiaoting; Wang, Guoping; Yang, Fufeng

doi:10.1016/j.jsv.2009.09.034

Cited by 31 publications

(22 citation statements)

References 22 publications

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“…All transfer matrix U α (α is element's ID) in this article can be found in Refs. [16][17][18][19][20][21][22][23]. The transfer equations of each branch in substructure A are…”

Section: State Vectormentioning

confidence: 99%

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Research on the rigid-flexible multibody dynamics of concrete placing boom

Zhang

Liu

et al. 2016

Automation in Construction

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“…All transfer matrix U α (α is element's ID) in this article can be found in Refs. [16][17][18][19][20][21][22][23]. The transfer equations of each branch in substructure A are…”

Section: State Vectormentioning

confidence: 99%

“…Li developed a computing method to improve the accuracy [21]. Rong performed the real-time simulation based on this method [22] and applied it to the study of spatial structures [23].…”

Section: Introductionmentioning

confidence: 99%

Research on the rigid-flexible multibody dynamics of concrete placing boom

Zhang

Liu

et al. 2016

Automation in Construction

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“…Modern application of Transfer Matrix method can be found in Ref. [13] for the real-time control of multibody systems and in Ref. [14] to analyze complex mufflers.…”

Section: Introductionmentioning

confidence: 99%

Finite element based N-Port model for preliminary design of multibody systems

Sanfedino

Alazard

Pommier-Budinger

et al. 2018

Journal of Sound and Vibration

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Keywords: Multibody dynamics Mechanical preliminary design Bending plate Model reduction a b s t r a c tThis article presents and validates a general framework to build a linear dynamic Finite Element-based model of large flexible structures for integrated Control/Structure design. An extension of the Two-Input Two-Output Port (TITOP) approach is here developed. The authors had already proposed such framework for simple beam-like structures: each beam was considered as a TITOP sub-system that could be interconnected to another beam thanks to the ports. The present work studies bodies with multiple attaching points by allowing complex interconnections among several sub-structures in tree-like assembly. The TITOP approach is extended to generate NINOP (N-Input N-Output Port) models. A Matlab toolbox is developed integrating beam and bending plate elements. In particular a NINOP formulation of bending plates is proposed to solve analytic two-dimensional problems. The computation of NINOP models using the outputs of a MSC/Nastran modal analysis is also investigated in order to directly use the results provided by a commercial finite element software. The main advantage of this tool is to provide a model of a multibody system under the form of a block diagram with a minimal number of states. This model is easy to operate for preliminary design and control. An illustrative example highlights the potential of the proposed approach: the synthesis of the dynamical model of a spacecraft with two deployable and flexible solar arrays.

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“…In transfer matrix method for multibody systems (MS-TMM) there are two cases to deal with control element, one is to express the control force with state of system of previous time such as the delay control, and the second is that the control force is relative to present state of system, such as real-time control systems. Rui et al have trials to develop new controlled systems depending on deriving the dynamics equations using MS-TMM [1,2]. Bestle et al reformulated the car suspension system using MS-TMM as similar as classical control theory's structural diagram [3].…”

Section: Introductionmentioning

confidence: 99%

Controller Parameters Tuning Based on Transfer Matrix Method for Multibody Systems

Hendy

Rui

Zhou

et al. 2014

Advances in Mechanical Engineering

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Transfer matrix method for multibody systems (MS-TMM) is a rife method to multi-rigid-flexible-body systems dynamics model deduction due to that there are no needs to establish the global dynamics equations of the system. Its basic idea is transferring a state vector between the body input(s) and output(s); this idea is close to the linear theories in control analysis and design. In this paper, three controllers' parameters tuning techniques for the proposed system model using MS-TMM are utilized; one technique is applied to get the stability regions via the frequency response of MS-TMM derived model. Another technique considers a classical PID controller design through the analysis of step input response of the system, and the last technique can be applied in both time and frequency domains if the model has a known mathematical model. A car suspension system is considered to represent modeling and tuning problems. In-depth study of MS-TMM with control techniques and defining the controllers' parameters stability regions provide an opportunity to formulate a relationship between MS-TMM and control design for novel control applications due to the powerful strength of MS-TMM dealing with more complex problems of the controlled multibody systems.

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Discrete time transfer matrix method for dynamics of multibody system with real-time control

Cited by 31 publications

References 22 publications

Research on the rigid-flexible multibody dynamics of concrete placing boom

Research on the rigid-flexible multibody dynamics of concrete placing boom

Finite element based N-Port model for preliminary design of multibody systems

Controller Parameters Tuning Based on Transfer Matrix Method for Multibody Systems

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