Modeling and control of coupled bending and torsional vibrations of flexible beams

1989 ◽  
Vol 34 (9) ◽  
pp. 970-977 ◽  
Author(s):  
Y. Sakawa ◽  
Zheng Hua Luo
Keyword(s):  
Torsional Vibrations ◽  
Flexible Beams ◽  
Modeling And Control ◽  
And Control

MODELING AND CONTROL OF A SPACECRAFT WITH MANOEUVRABLE FLEXIBLE BEAMS

1993 ◽  
pp. 429-434
Author(s):  
G. Ambrosino ◽  
G. Celentano ◽  
F. Garofalo ◽  
L. Verde
Keyword(s):  
Flexible Beams ◽  
Modeling And Control ◽  
And Control

Modeling and Control of Transverse and Torsional Vibrations in a Spherical Robotic Manipulator: Theoretical and Experimental Results

1997 ◽  
Vol 119 (3) ◽  
pp. 421-430 ◽  
Author(s):  
Liming Chen ◽  
Nabil G. Chalhoub
Keyword(s):  
Rigid Body ◽  
Natural Frequencies ◽  
Equations Of Motion ◽  
Robotic Manipulator ◽  
Gain Scheduling ◽  
Torsional Vibrations ◽  
Flexible Link ◽  
Modeling And Control ◽  
Prismatic Joint ◽  
And Control

The present work addresses modeling and control issues pertaining to the positioning and orientating of rigid body payloads as they are being manipulated by flexible spherical robotic manipulators. A general approach, to systematically derive the equations of motion of the robotic manipulator, is used herein. The objective of the controller is to yield a desired rigid body response of the arm while damping out the transverse and torsional vibrations of the compliant link. Note that the control objective has to be achieved by solely relying on the existing joint actuators whose band-widths are far below the natural frequencies of the torsional modes. The current work demonstrates that, in spite of the physical limitations of the system, the controller can actively damp out the torsional vibrations by relying on the coupling terms between the torsional vibrations and the remaining degrees of freedom of the arm. Moreover, a gain scheduling procedure is introduced to continuously tune the controller to the natural frequencies of the flexible link whose length is varied by the prismatic joint. The digital simulation results demonstrate the capability of the “rigid and flexible motion controller (RFMC)” in drastically attenuating the transverse and torsional vibrations during point-to-point (PTP) maneuvers of the arm. Furthermore, the gain scheduling procedure is shown to significantly reduce the degradations in the RFMC performance that are brought about by having the flexible link connected to a prismatic joint. A limited experimental work has also been conducted to demonstrate the viability of the proposed approach.

Modeling and Control of Torsional Beam Vibrations: A Wave-Based Approach

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
M. Moallem
Keyword(s):  
Transfer Function ◽  
The Other ◽  
Torsional Vibrations ◽  
Inertial Load ◽  
Modeling And Control ◽  
Control Approach ◽  
Infinite Dimensional ◽  
Torsional Beam ◽  
Delay Elements ◽  
And Control

This paper presents a wave-based modeling and control approach for suppressing torsional vibrations of an elastic shaft driven by a motor at one end and an inertial load at the other end. A two-port network model representing the dynamics of torsional displacements is obtained starting from the partial differential equations governing a shaft in torsion. By incorporating appropriate boundary conditions, the infinite dimensional transfer function of the system is obtained. Furthermore, the system is represented by delay elements that can be used for simulation purposes. An inversion-based controller that can be used to suppress vibrations while rotating the shaft according to a specific trajectory is then developed. The performance of the controller is further studied using numerical simulations.

Modeling and Control of a Spacecraft with Manoeuvrable Flexible Beams

1992 ◽  
Vol 25 (22) ◽  
pp. 429-434
Author(s):  
G. Ambrosino ◽  
G. Celentano ◽  
F. Garofalo ◽  
L. Verde
Keyword(s):  
Flexible Beams ◽  
Modeling And Control ◽  
And Control

scholarly journals Modeling and control of torsional vibrations in a flexible structure.

1987 ◽  
Vol 30 (264) ◽  
pp. 976-981
Author(s):  
Toshio FUKUDA ◽  
Fumihito ARAI ◽  
Hidemi HOSOGAI ◽  
Nobuyuki YAJIMA
Keyword(s):  
Flexible Structure ◽  
Torsional Vibrations ◽  
Modeling And Control ◽  
And Control
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