Controller Design of a Distributed Slewing Flexible Structure—A Frequency Domain Approach

[+] Author and Article Information
S. M. Yang

Institute of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan

J. A. Jeng

Department of Mechanical Engineering, Kaohsiung Polytechnic Institute, Taiwan

Y. C. Liu

Fu Chun Shin Machinery, Taiwan

J. Dyn. Sys., Meas., Control 119(4), 809-814 (Dec 01, 1997) (6 pages) doi:10.1115/1.2802394 History: Received January 01, 1995; Online December 03, 2007


The vibration control of a slewing flexible structure by collocated and noncollocated feedback is presented in this paper. A stability criterion derived from the root locus method in frequency domain is applied to predict the closed-loop system stability of the distributed parameter model whose analytical transfer functions are formulated. It is shown that the control law design requires neither distributed state sensing/estimation nor functional feedback gain; moreover, the spillover problem associated with discrete parameter model can be prevented. Implementation of the noncollocated feedback in a slewing beam experiment validates that the control law is effective in pointing accuracy while suppressing the tip vibration.

Copyright © 1997 by The American Society of Mechanical Engineers
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