Observer-based Collision Detection and Its Spot Estimation　of a Flexible Cantilevered Beam Using Ratio of Mode Functions

2008-05-14T05:47:17Z

2008-05-14T05:47:17Z

2006-03-31

This paper presents a method of collision detection and its spot　Estimation on flexible cantilevered beam. The relevant beam is Modeled by an Euler-Bernoulli type partial differential equation with　an external（unknown）force due to a collision and a Kelvin-Voigt type internal damping term. The collision event is assumed to be　caused by an unexpected obstacle the collides with a spot of the beam,　which is mathematically characterized by the Dirac’s delta function　with an unknown position and magnitude. The estimates of the beam’s state and the collision. Input in modal representation are　obtained, using an observer which decouples the effect of the collision input to an estimation error. Introducing a scalar function which is　defined by the ratio of the modal collision inputs corresponding to the first two modes, the collision spot can be estimated using the inverse 　of the ratio of mode functions. The efficacy of the proposed method　is demonstrated by some numerical simulations.

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京都工芸繊維大学　工芸学部研究報告　第５４巻　理工・欧文(2005) pp.1-13

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http://hdl.handle.net/10212/1734

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Journal Article

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