The Study Of Active Constraint Control Based On Mechanical System

A mechanical system be in motion under the constrains in tradition. As usual,the constraints we said is followed in a passive manner. As one determines the motion of the system and hence the constraint force that is needed, it is generally assumed that the environment or the structure of the machines can automatically generate the required constraint force.For example, if a particle is constrained to move on a table surface, the surface is able to exert the constraint force to ensure the particle is moving on the table. This constraint force is called passive constraints.It is be considered at the time of designing physical construction. As usual, there have been very rare discussions on how to generate, in an active manner, the required constraint force. As a result, the generation of constrain force is often considered to be a design task:if the machine is well designed, the constraint force will be automatically generated, not a control task.It is the true of passive constraints.The paper introduced the active constraint control based on mechanical system. The theory developed in recent years. The key of the active constraint control is considered that one must offer the constraint force by servo control but not natural. And we can get the constraint force by a new form of Lagrange equation. The new manner of active constraint force to control the machinery is broadened the apply of Lagrange equation and break a new thinking for the servo control.Based on this, the paper introduced the matter of active constraint. It can eduction the quantitative value of the constraint force by constraints what we need. It is the foundation of active constraint control.After that, we established a model of a two degrees mechanical arm, and joined in the manner of active constraint control to manage the mechanical arm in the light of constrain. The process of the whole simulation is completely by MATLAB.The simulation confirmed that the active constraint control can be good at dominating the machinery and achieved the requirements of the control.