Open AccessStabilization of mechanical system with holonomic servo constraints
Author(s) -
K. Khusanov
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/883/1/012146
Subject(s) - gimbal , holonomic , control theory (sociology) , holonomic constraints , gyroscope , motion (physics) , mechanical system , manifold (fluid mechanics) , equations of motion , servomechanism , computer science , control engineering , mathematics , classical mechanics , control (management) , physics , engineering , artificial intelligence , mechanical engineering , aerospace engineering
The proposed study is devoted to the derivation of the equation of disturbed motion of mechanical systems with releasing servoconstraints, in which the multipliers of the normal and tangential components of the servoconstraints reaction forces are taken as control parameters. A technique is proposed for determining the reaction forces of servoconstraints providing motion stabilization relative to the manifold determined by holonomic servoconstraints. As an example, the problem of a gyroscope in a gimbal mount with holonomic releasing servoconstraints is considered.