Abstract
Belt driven systems are part of many industrial devices, like cutting machines and 3D-printers. In this paper the dynamic modeling and a nonlinear control approach of a belt driven system containing a flexible beam are presented. Due to the special kinematics, the stiffness of the belt is nonlinear. This together with the elastic beam, leads to nonlinear partial differential equations of motion. By omitting negligible dynamical effects, a nonlinear controller can be designed that uses measurements of accelerations and shear forces of the flexible beam. In detail, an integrator backstepping design for an infinite dimensional system is performed. The proposed control approach is compared with a conventional PD control law and a validation by means of simulation results is shown.
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Acknowledgments
This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mechatronics (LCM).
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Jörgl, M., Gattringer, H., Müller, A. (2019). Nonlinear Control for Vibration Rejection in a System Containing a Flexible Beam and Belts. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_42
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DOI: https://doi.org/10.1007/978-3-030-00232-9_42
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