| Popis: |
One of the simplest types of skew-symmetric optimal controls for the motion of an object as an absolutely rigid and deformable body was theoretically researched and experimentally verified. An elastic system with one degree of freedom was observed as an example, and it was shown, that for an acceptable minimum possible time an absolute rest could be achieved at the end of the motion. The time of motion was found from the system of transcendental equations, which are moment relations in relative motion (relative displacement and relative velocity at the end of translational motion are equal to zero). Experimental test was completed for the optimal translational rotation of the elastic cantilever rod with a distributed mass and the absolute rest was achieved after optimal turning through a predetermined angle (in the shortest possible time) around the axis passing through the end of the rod. Results of the research can find application in: optimal control of the motion of finite stiffness objects in automated production, creation of manipulators of a minimal mass, in the case of mounting non-rigid large-sized structures in outer space, in a number of other areas of modern technologies. |
