空間可展開機(jī)構(gòu)動(dòng)力學(xué)建模及控制研究.pdf

1、天津工業(yè)大學(xué)碩士學(xué)位論文空間可展開機(jī)構(gòu)動(dòng)力學(xué)建模及控制研究姓名：唐國潮申請學(xué)位級別：碩士專業(yè)：機(jī)械電子工程指導(dǎo)教師：金國光20090201AbstractSpacialdeployablemechanismistypicalflexiblemultibodysystemwithlargeaperture，lightmass，smallrigidityandSOonThedeployablecharacteristiccallnotbed

2、escribedbythemodelwhichallpartsareseenasrigiditySowemustfindavalidmethodofdynamicmodelingwhichcouldpreciselydescribethedynamiccharacteristicofspacialdeployablemechanismBasedontheassumptionmodemethodandLagrangeequation，th

3、edynamicmodeloftheflexibleelementwhichisthetypicalstructureofspacialdeployablemechanismisestablishedThelineardynamicmodelofthetypicalflexibleelementisestablishedthroughthelinearizationofthenonlinearmodelTheeffectsoftheno

4、nlineartermsinthenonlineardynamicmodelonthedynamicmodel，differentordersofmodalitytruncationontheaccuracyofsystemmodel，theparametersofflexibleelement(includingthephysicalparameterthegeometricstructureparameteranddrivingmo

5、ment)ondynamiccharacteristicareanalyzedthroughnumericalsimulationBasedonthedynamicmodelofthespacialdeployableflexibleelement，thebasicexpressoftheflexibleelementcontrollingmodelisestablishedBasedonthelinearquadraticoptima

6、lcontrolme(!ⅨmuchemphasesareputontoanalyzetheeffectsofdifferentelementsinthediagonalofweighingmatricestothecontrolsystemanditsoutputThenumericalsimulationresultsillustratethatlinearquadraticoptimalcontrolmodelwithdiffere

7、ntordersmodeofcouldhaveenoughprecision’Basedontheoryofneuralnetworkcontrol，thecharacteristicofBPneuralnetworkandidentifiablesystem，thealgorithmanditsimprovedformatareintroduced，thenecessityandfeasibilityofspacialdeployab

8、lemechanismneuralnetworkcontrolarestudiedThespacialdeployablemechanismidentifiablesystembeenestablishedonthespecificcharacteristicandrequirementsofspacialdeployablemechanismThenumericalsimulationillustratethatthesystemco

9、uldhaveenoughprecisiontosimulatethedynamicperformanceofspacialdeployablemechanismwithgeneralizationandprovidereferenceforitsreal—timecontr01Keywords：specialdeployablemechanism，flexiblemulti—bodydynamics，modelanalysis，dyn