Nonlinear Modeling and Partial Linearizing Control of a Slewing Timoshenko-Beam

[+] Author and Article Information
King Yuan, Chen-Meng Hu

Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan

J. Dyn. Sys., Meas., Control 118(1), 75-83 (Mar 01, 1996) (9 pages) doi:10.1115/1.2801154 History: Received September 12, 1992; Online December 03, 2007


The modeling and control of a horizontally slewing inextensible Timoshenko beam, taking into account the centrifugal stiffening effect and a tip payload, are considered. Partial differential equations of motion and orthogonality conditions for the constrained modes are derived. A finite dimensional dynamic model simplified by using the orthogonality conditions is obtained. To achieve the joint angle trajectory tracking with simultaneous suppression of elastic vibrations, a nonlinear controller is designed using input-output linearization and elastic-mode stabilization. A sufficient condition for asymptotic stability of the closed-loop system is established. Numerical examples with the role of slenderness ratio of the slewing beam highlighted are presented to demonstrate the effectiveness of the proposed control strategy.

Copyright © 1996 by The American Society of Mechanical Engineers
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