Documente Academic
Documente Profesional
Documente Cultură
2008
Jean LEVINE
Contents
Contents
Flatness NSC, Linear Case Introductory Example: Linear Motor with Appended Mass General Solution (Linear Case)
Jean LEVINE
Contents
Contents
Flatness NSC, Linear Case Introductory Example: Linear Motor with Appended Mass General Solution (Linear Case) Flatness NSC, General Case Example of Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence of Implicit Systems a Flatness Necessary and Sufcient Conditions
Jean LEVINE
Plan
Flatness NSC, Linear Case Introductory Example: Linear Motor with Appended Mass General Solution (Linear Case) Flatness NSC, General Case Example of Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence of Implicit Systems a Flatness Necessary and Sufcient Conditions
Jean LEVINE
Aim: Fast and high-precision rest-to-rest displacements. Measurements: Motor position and velocity z not measured.
linear motor
Jean LEVINE
Thus:
d d M dt2 + r dt + k
2
d Px y r dt + k Pz y = PF y
2
d d d r dt + k Px y + m dt2 + r dt + k
Pz y = 0
Solution: Px = 1 k m d2 d +r +k 2 dt dt
Jean LEVINE
Pz =
1 k
d +k dt
Jean LEVINE
General Solution
d Smith Decomposition of CT A( dt ): U, V unimodular such that VCT AU = (|0). Thus: I P=U P0 0
Indeed: CT AP = CT AU
I 0
P0 = 0
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
Plan
Flatness NSC, Linear Case Introductory Example: Linear Motor with Appended Mass General Solution (Linear Case) Flatness NSC, General Case Example of Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence of Implicit Systems a Flatness Necessary and Sufcient Conditions
Jean LEVINE
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
x d = 0 cos2 x cos2 dx dy = 0. d
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
If (z1 , z2 ) is a at output, then (dz1 , dz2 ) is a at output of the variational system dx = dy = d = and we must have tan d dt d dt x cos2 Px,1 Px,2 Py,1 Py,2 = 0 P,1 P,2
j0 j0 j0 (j) 2 i=1 Px,i,j dzi = Px,1 dz1 + Px,2 dz2 (j) 2 i=1 Py,i,j dzi = Py,1 dz1 + Py,2 dz2 (j) 2 i=1 P,i,j dzi = P,1 dz1 + P,2 dz2
Jean LEVINE
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
0 1
cos2 d x dt
1 0
d sin xcos dt
One can verify that P is given by 0 1 P0 , (P0 arbitrary). 1 0 P= cos2 d sin cos d x dt x dt and thus 0 1 dx 1 0 P0 dz1 dy = cos2 d dz2 sin cos d d x dt x dt or dx = dz2 , dy = dz1 . Therefore: x = z2 , y = z1 .
Jean LEVINE Chapter 6. Differentially Flat Systems
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
F(x, x) = 0 with rank F = n m. x We introduce the global coordinates x x = (x, x, , . . .) on the manifold X Rn endowed with the trivial Cartan eld n . The implicit representation is thus given by the triple (X Rn , n , F).
Jean LEVINE Chapter 6. Differentially Flat Systems
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
F F dx + dx = x x
F F d + x x dt
dx = P(F)dx
0 dj y(j) dtj
We thus have to nd a polynomial matrix P(0 ) solution to P(F) P(0 ) = 0. This solution is deduced from the Smith decomposition of P(F).
Jean LEVINE Chapter 6. Differentially Flat Systems
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
Notations:
d K: eld of meromorphic functions from X Rn to R and K[ dt ] d principal ideal ring of polynomials of dt = Ln with coefcients in K. d d Mp,q [ dt ]: module of the p q matrices over K[ dt ], with p and q arbitrary integers. d d Up [ dt ]: group of unimodular matrices of Mp,p [ dt ]. d Smith Decomposition: If P(F) Mnm,n [ dt ], there exist d d V Unm [ dt ] and U Un [ dt ] such that
VP(F)U = (, 0nm,m ) . We note V L Smith (P(F)) and U R Smith (P(F)). Moreover, if the linear tangent system around an arbitrary trajectory is controllable, one can prove that = Inm .
Jean LEVINE Chapter 6. Differentially Flat Systems
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
Non Holonomic Vehicle Implicit Representation Lie-B cklund Equivalence a Flatness NSC
Comments
The last conditions generalize the moving frame structure equations of Cartan to manifolds of jets of innite order. They are equivalent to the existence of M s.t. d(M) = 0, or equivalently to the existence of y s.t. dy = M (at output). Their validity may be checked by computer algebra.
Jean LEVINE