|
| MMI tracking control algorithm operational parameters |
| Parameters | Description | Quantity values | Dimensions |
|
| Dynamic output trajectory filter parameters | [3.5] [1.3] [0.13] [1.85] | Not applicable |
| Support desired trajectory filter parameters | [2.5] [1.1] [0.05] [1.25] | Not applicable |
| Actuator output desired trajectory filter parameters | [10.0] [1.5] [0.01] [1.7] | Not applicable |
| Sliding function parameters | [0.2] [0.2] | Not applicable |
| Saturation level of the command control input | [3000.00] | (N) |
| Damping ratio and the natural frequency of the actuator | [0.7] [157.079] | [Dimensionless] (rad/sec) |
| Discretization time-step | [0.001] | (sec) |
| Numerical time differentiation lowpass filter parameters | [0.001] [0.001] | Not applicable |
| Beam tip harmonic desired trajectory | W 0 = 0.7, = 4.398 | (m) (rad/sec) |
| Beam tip piecewise rectangular desired trajectory | W 0 = 0.7, = 4.398 | (m) (rad/sec) |
|
| Moving support and beam geometrical and inertial parameters |
| Parameters | Description | Quantity values | Dimensions |
|
| Cart mass | [1.0] | (kg) |
| Beam mass | [1.979] | (kg) |
| Load mass | [1.50] | (kg) |
| Beam length | 1.00 | (m) |
| Beam effective mass | 0.2235MB | (kg) |
| Cantilever beam equivalent stiffness | 3EI/L3 | (N/m) |
| Nonlinear stiffness of foundation | [3.0] [4.0] | (N/m) (N/m3) |
| Nonlinear damping of foundation | [4.0] [3.0] [3.0] [2.0] | (Ns/m) (Ns2/m2) |
| (Ns/m3) (m) |
| Disturbance force parameters | | (N) (Ns3/m3) |
|
| ANSYS mechanical APDL environment setting parameters |
|
| Point masses type | MASS21 |
| Beam type | BEAM188 |
| Node number | 101 |
| Beam cross-section | Circular [d = 6 cm] |
| Beam bulk density | |
| Beam young modulus | |
| Beam Poisson’s ratio | 0.10 |
| three degrees of the freedom element type for all nodes except node1 = 1 DoF |
| cross-section is scaled as a function of the axial stretch |
| cubic shape function along the length |
| shear stress output is a combination of torsion-related and flexure-relatedtransverse-shear stress |
|
