Optimal Suppression of Oscillations in the Problem of a Spin-Up of a Two-Mass System

We consider a controlled mechanical system of many bodies, consisting of a load-bearing disk that rotates around its axis fixed in space, and a carried disk attached to it using weightless elastic elements. The presented bodies are in the same plane. The problem of minimizing the amplitude of radial...

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Bibliographic Details
Published inJournal of computer & systems sciences international Vol. 62; no. 6; pp. 942 - 955
Main Authors Vasenin, S. A., Reshmin, S. A.
Format Journal Article
LanguageEnglish
Published Moscow Pleiades Publishing 01.12.2023
Springer Nature B.V
Subjects
Amplitudes
Control
Engineering
Mechanical systems
Mechatronics
Newton methods
Numerical methods
Optimal Control
Oscillations
Robotics
Smoothing
Spin
Systems science
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Summary:We consider a controlled mechanical system of many bodies, consisting of a load-bearing disk that rotates around its axis fixed in space, and a carried disk attached to it using weightless elastic elements. The presented bodies are in the same plane. The problem of minimizing the amplitude of radial oscillations is studied. To solve this problem over a sufficiently large interval, two numerical methods are used: the method of successive approximations in the control space and Newton’s method. The properties of the phase trajectories of the system are studied depending on the initial states of the disks. Various disk spin-up modes are detected. Using the smoothing procedure for optimal control, a continuous control is constructed that reduces the amplitude of radial oscillations.
ISSN:1064-2307
1555-6530
DOI:10.1134/S1064230723060114