PSI - Issue 24

Margherita Montani et al. / Procedia Structural Integrity 24 (2019) 137–154 M.Montani et al. / Structural Integrity Procedia 00 (2019) 000–000

9

145

Fig. 2. controller architecture.

F z f r F z f r + F zrr

F z f l F z f l + F zrl

; p f r =

(25)

p f l =

F x f l =    − |

M tot < 0

0

M tot | p f l t 1 2 cos( δ )

(26)

M tot > 0

F xrl =    −

M tot < 0

0

| M tot | 1 − p f l t 2 2

(27)

M tot > 0