弹性四连杆机构动力学分析及主动控制研究-机械设计及理论专业论文.docxVIP

万方数据 万方数据 which is introduced in chapter two and the response result in chapter three are correct. An active vibration controller is designed by using sliding mode control theory. Through changing the control input function, the sliding mode controller not only satisfies the control requirement but also eliminates the dynamic deflections of output link. Simulation result proves the validity of the method. Key Words: flexible linkage, FEM, Wilson- ? method, active vibration control III 目 录 摘 要 ...............................................................I ABSTRACT .........................................................II 目 录 .............................................................IV 主要符号表 .........................................................VI 第一章 绪论 .........................................................1 1.1本课题研究的背景及意义 .......................................1 1.2国内外研究现状 ...............................................2 1.2.1弹性多体系统动力学建模方法 ..............................2 1.2.2弹性机构振动的主动控制 ..................................3 1.3本论文研究的主要内容 .........................................5 第二章 弹性四连杆机构动力学模型的建立 ..............................7 2.1引言 .........................................................7 2.2梁单元的动力学微分方程 .......................................8 2.2.1型函数和广义坐标 .......................................8 2.2.2梁单元的动能 ...........................................10 2.2.3集中质量的动能 .........................................13 2.2.4梁单元的应变能 .........................................14 2.2.5梁单元的运动微分方程 ...................................21 2.2.6曲柄及摇杆的运动微分方程 ..............................22 2.3系统方程 ....................................................23 2.4本章小结 ....................................................24 第三章 弹性连杆机构动力学响应的求解 ................................25 3.1引言 ........................................................25 HYPERLINK \l _TOC_250001 Wilson—??法理论 25 HYPERLINK \l _TOC_250000 QDA 方法求解 29