Modelling and control of large flexible structures using combined simulation tools

Author

Arenz, A. ; Schnieder, E.

Author_Institution

Inst. fur Regelungs- und Automatisierungstechnik, Tech. Univ. Braunschweig, Braunschweig, Germany

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

586

Lastpage

591

Abstract

In the present paper a new approach for the modelling and control of flexible virtual prototypes in a combined simulation tool environment is presented. As case study the design of a `goliath´ robot for the automatic container transfer is used. The tool environment is composed of the three tools ADAMS, ANSYS and MATLAB which are combined via suitable interface structures. The questions arising are the following: Is it possible to include flexible FE bodies successfully in a (rigid) mechanical prototype environment? Is it in a next step possible to control this very complex structure even when the controller layout is only based on a simplified process model using mathematical beam equations?

Keywords

control engineering computing; digital simulation; flexible structures; materials handling equipment; robot dynamics; ADAMS; ANSYS; MATLAB; automatic container transfer; combined simulation tools; controller layout; flexible FE bodies; flexible virtual prototypes; goliath robot; large flexible structures; mathematical beam equations; mechanical prototype environment; simulation tool environment; suitable interface structures; Finite element analysis; Joints; Load modeling; Mathematical model; Mechanical systems; Prototypes; Robots; modelling and control of hybrid virtual prototypes; simulation tool environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099368