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Trajektorienplanung für eine piezo-aktuierte elastische Kirchhoff-Platte

Motion planning for a piezo-actuated elastic Kirchhoff plate

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Summary

The motion planning problem is considered for a cantilevered orthotropic Kirchhoff plate with spatially varying coefficients and distributed piezoelectric patch actuators. For this, the spectral representation of the corresponding equations of motion is utilized to systematically construct a flatness-based parametrization of state and inputs. These enable a very intuitive motion planning to realize prescribed high-speed rest-to-rest motions. Moreover, the incorporation of weighted residuals approaches yields a very efficient computational implementation. Simulation results confirm the applicability of the design approach and the achievable tracking performance.

Zusammenfassung

Die Trajektorienplanungsaufgabe für verteilt-parametrische Systeme wird anhand des Beispiels einer einseitig eingespannten orthotropen Kirchhoff-Platte mit örtlich verteilten Patch-Aktoren analysiert. Hierzu wird auf Basis der spektralen Darstellung der Bewegungsgleichung ein systematischer Ansatz zur flachheitsbasierten Parametrierung des Auslenkungsprofils und der Stellgrößen vorgestellt. Dies ermöglicht einen intuitiven Zugang zur Trajektorienplanung und zur Realisierung hochdynamischer Übergänge zwischen stationären Auslenkungsprofilen. Die Verwendung gewichteter Residuenverfahren ermöglicht zudem eine effiziente Computer-gestützte Umsetzung des Entwurfsverfahrens. Simulationsergebnisse bestätigen die Anwendbarkeit der entwickelten Methodik und illustrieren das erzielbare Folgeverhalten.

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Authors and Affiliations

  1. Institut für Automatisierungs- und Regelungstechnik, Technische Universität Wien, Wien, Austria

    T. Meurer, J. Schröck & A. Kugi

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  1. T. Meurer
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  2. J. Schröck
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  3. A. Kugi
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Meurer, T., Schröck, J. & Kugi, A. Trajektorienplanung für eine piezo-aktuierte elastische Kirchhoff-Platte. Elektrotech. Inftech. 129, 11–17 (2012). https://doi.org/10.1007/s00502-012-0068-2

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  • DOI: https://doi.org/10.1007/s00502-012-0068-2

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