Skip to main content
SpringerLink
Log in

Active control and experiment study of a flexible hub-beam system

  • Research Paper
  • Published:
Acta Mechanica Sinica Aims and scope Submit manuscript

Abstract

The first-order approximation coupling (FOAC) model was proposed recently for dynamics and control of flexible hub-beam systems. This model may deal with system dynamics for both low and high rotation speed, while the classical zeroth-order approximation coupling (ZOAC) model is only available for low rotation speed. This paper assumes the FOAC model to present experimental study of active positioning control of a flexible hub-beam system. Linearization and nonlinear control strategies are both considered. An experiment system based on a DSP TMS320F2812 board is introduced. The difference between linearization and nonlinear control strategies are studied both numerically and experimentally. Simulation and experimental results indicate that, linearized controller can make the system reach an expected position with suppressed vibration of flexible beam, but the time taken to position is longer than expected, whereas nonlinear controller works well with precise positioning, suppression of vibration and time control.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Similar content being viewed by others

References

  1. Meirovitch L.: Hybrid state equations of motion for flexible bodies in terms of quasi-coordinates. J. Guid. Control Dyn. 14(5), 1374–1383 (1990)

    MathSciNet  Google Scholar 

  2. Kane T.R., Ryan R.R., Banerjee A.K.: Dynamics of a cantilever beam attached to a moving base. J. Guid. Control Dyn. 10(2), 139–151 (1987)

    Article  Google Scholar 

  3. Krishnaprasad P.S., Marsden J.E.: Hamiltonian structures and stability for rigid bodies with flexible attachments. Arch. Ration. Mech. Anal. 98(1), 71–93 (1987)

    Article  MATH  MathSciNet  Google Scholar 

  4. Choura S., Jayasuriya S., Medick M.A.: On the modeling, and openloop control of a rotating thin flexible beam. J. Dyn. Syst. Meas. Control ASME 113, 27–33 (1991)

    Google Scholar 

  5. Zhang D.J., Huston R.L.: On dynamic stiffening of flexible bodies having high angular velocity. Mech. Struct. Mach. 24(3), 313–329 (1996)

    Article  Google Scholar 

  6. Mayo J., Dominguez J., Shabana A.A.: Geometrically nonlinear formulation of beam in flexible multibody dynamics. J. Vib. Acoust. ASME 117, 501–509 (1995)

    Article  Google Scholar 

  7. Wallrapp O.: Standardization of flexible body modeling in multibody system codes, Part I: definition of standard input data. Mech. Struct. Mach. 22(3), 283–304 (1994)

    Article  MathSciNet  Google Scholar 

  8. Yang, H.: Study of dynamic modeling theory and experiments for rigid–flexible coupling systems. [Ph.D. Dissertation], Shanghai Jiaotong University, China (2002, in Chinese)

  9. Cai G.P., Hong J.Z., Yang S.X.: Dynamic analysis of a flexible hub-beam system with tip mass. Mech. Res. Commun. 32(2), 173–190 (2005)

    Article  MATH  Google Scholar 

  10. Yigit A.S.: On the stability of PD control for a two-link rigid– flexible manipulator. J. Dyn. Syst. Meas. Control ASME 116(2), 208–215 (1994)

    Article  MATH  Google Scholar 

  11. Cai G.P., Lim C.W.: Active control of a flexible hub-beam system using optimal tracking control method. Int. J. Mech. Sci. 48(10), 1150–1162 (2006)

    Article  Google Scholar 

  12. Cai G.P., Lim C.W.: Optimal tracking control of flexible hub-beam system with time delay. Multibody Syst. Dyn. 16(4), 331–350 (2006)

    Article  MATH  Google Scholar 

  13. Li Y., Kang J.: Combined robust control method for trajectory tracking of multi-link flexible manipulator. Model. Meas. Control 65(2), 27–37 (1998)

    Google Scholar 

  14. Choi S.B., Shin H.C.: A hybrid actuator scheme for robust position/force control of flexible-joint robot manipulators. J. Robot. Syst. 13(6), 359–370 (1996)

    Article  MATH  MathSciNet  Google Scholar 

  15. Moallem M., Kermani M.R., Patel R.V., Ostojic M.: Flexure control of a positioning system using piezoelectric transducers. IEEE Trans. Control Syst. Technol. 12(5), 757–762 (2004)

    Article  Google Scholar 

  16. Kermani M.R., Moallem M., Cai G.P., Patel R.V.: Study of system parameters and control design for a flexible manipulator using piezoelectric transducers. Smart Mater. Struct. 14(4), 843–849 (2005)

    Article  Google Scholar 

  17. Teng, Y.Y.: Active control and experiment study of flexible manipulator. [Master Dissertation], Shanghai Jiaotong University, China (2007, in Chinese)

  18. Cai G.P., Hong J.Z., Yang S.X.: Model study and active control of a rotating flexible cantilever beam. Int. J. Mech. Sci. 46(6), 871–889 (2004)

    Article  MATH  Google Scholar 

  19. Han, J.Q., Yuan, L.X.: The discrete form of tracking-differentiator. J. Syst. Sci. Math. Sci. 19(3), 268–273 (1999, in Chinese)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Engineering Mechanics, State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, 200240, Shanghai, China

    Guoping Cai & Youyou Teng

  2. Department of Building and Construction, City University of Hong Kong, Tat Chee Avenue, Kowloon, Hong Kong, China

    C. W. Lim

Authors
  1. Guoping Cai
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Youyou Teng
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. C. W. Lim
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Guoping Cai.

Additional information

The project was supported by the National Natural Science Foundation of China (10772112 and 10472065), the Key Project of Ministry of Education of China (107043), the Key Scientific Project of Shanghai Municipal Education Commission (09ZZ17), the Specialized Research Fund for the Doctoral Program of Higher Education of China (20070248032) and the Research Project of State Key Laboratory of Ocean Engineering of China (GKZD010807).

Rights and permissions

Reprints and permissions

About this article

Cite this article

Cai, G., Teng, Y. & Lim, C.W. Active control and experiment study of a flexible hub-beam system. Acta Mech Sin 26, 289–298 (2010). https://doi.org/10.1007/s10409-009-0312-0

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10409-009-0312-0

Keywords

Search

Navigation