Modelling and controlling one-degree-of-freedom impacts
Modelling and controlling one-degree-of-freedom impacts
- Author(s): A. Tornambè
- DOI: 10.1049/ip-cta:19960206
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- Author(s): A. Tornambè 1
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View affiliations
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Affiliations:
1: Dipartimento di Meccanica e Automatica, Terza Università di Roma, Roma, Italy
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Affiliations:
1: Dipartimento di Meccanica e Automatica, Terza Università di Roma, Roma, Italy
- Source:
Volume 143, Issue 1,
January 1996,
p.
85 – 90
DOI: 10.1049/ip-cta:19960206 , Print ISSN 1350-2379, Online ISSN 1359-7035
The problem of modelling and controlling a one-degree-of-freedom impact between two bodies is considered. Basic equations describing the motion of the bodies involved in the collision are derived under conditions of noncontact and contact. A control scheme is proposed on the basis of an observer that is able to asymptotically estimate the impact-induced forces and to allow their asymptotic compensation when the two bodies are in contact. A simulation test is included.
Inspec keywords: decentralised control; force control; robust control; observers
Other keywords:
Subjects: Stability in control theory; Simulation, modelling and identification; Multivariable control systems; Mechanical variables control
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