哈尔滨工程大学学报2025，Vol.46Issue(12)：2482-2490,9.DOI:10.11990/jheu.202411007
绳驱张拉整体柔性臂数据驱动谱子流形降阶
Data-driven spectral submanifold reduction for cable-driven tensile fully flexible arm
摘要
Abstract
The modeling and simulation of cable-driven tensegrity continuum arms face significant challenges due to the curse of dimensionality and the high computational cost arising from strong geometric nonlinearities.To address these challenges,this study proposes an efficient modeling framework based on data-driven spectral submanifold(SSM)theory.The proposed approach extracts the intrinsic dynamical features of the system from high-dimensional data to construct an accurate reduced-order model of the tensegrity flexible arm,thereby enabling fast and high-fi-delity dynamic prediction.Simulation results demonstrate that,compared with the proper orthogonal decomposition method,the SSM-based reduced-order model improves prediction accuracy by approximately eight-fold and compu-tational efficiency by about 500-fold,providing a solid theoretical foundation for the real-time simulation and control of cable-driven tensegrity flexible arms.关键词
谱子流形/数据驱动/模型降阶/张拉整体柔性臂/动力学响应/不变流形/模型辨识/多体系统Key words
spectral submanifold/data-driven/model reduction/cable-driven tensile fully flexible arm/dynamic response/invariant manifolds/model identification/multibody system分类
信息技术与安全科学引用本文复制引用
韩先浩,王铭基,彭海军,李明武..绳驱张拉整体柔性臂数据驱动谱子流形降阶[J].哈尔滨工程大学学报,2025,46(12):2482-2490,9.基金项目
国家自然科学基金项目(U2241263) （U2241263）
深圳市高等院校稳定支持计划(20231115172355001). （20231115172355001）
