Backstepping boundary control: an application to the suppression of flexible beam vibration

8th TSME-International Conference on Mechanical Engineering

Boonkumkrong, Nipon^1,2 ; Asadamongkon, Pichai^2 ; Chinvorarat, Sinchai^3

Department of Mechanical Engineering, Faculty of Engineering, Srinakharinwirot University, 63 Moo7 Rangsit-Nakornnayok Rd., Ongkharak, Nakornnayok

26120, Thailand^1

Department of Mechanical Engineering, Faculty of Engineering, Kasem Bundit University, 1761 Pattanakarn Rd, Bangkok

10250, Thailand^2

Department of Mechanical and Aerospace Engineering, Faculty of Engineering, King Mongkut's University of Technology North Bangkok, 1518 Pracharat 1 Rd., Wongsawang, Bangsue, Bangkok

10800, Thailand^3

关键词: Control law design;    Control parameters;    Control performance;    Euler Bernoulli beams;    Industrial robotics;    Partial Differential Equations (PDEs);    Partial integro-differential equations;    Vibration suppression;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/297/1/012047/pdf
DOI  :  10.1088/1757-899X/297/1/012047

来源: IOP

【 摘 要 】

This paper presents a backstepping boundary control for vibration suppression of flexible beam. The applications are such as industrial robotic arms, space structures, etc. Most slender beams can be modelled using a shear beam. The shear beam is more complex than the conventional Euler-Bernoulli beam in that a shear deformation is additionally taken into account. At present, the application of this method in industry is rather limited, because the application of controllers to the beam is difficult. In this research, we use the shear beam with moving base as a model. The beam is cantilever type. This design method allows us to deal directly with the beam's partial differential equations (PDEs) without resorting to approximations. An observer is used to estimate the deflections along the beam. Gain kernel of the system is calculated and then used in the control law design. The control setup is anti-collocation, i.e. a sensor is placed at the beam tip and an actuator is placed at the beam moving base. Finite difference equations are used to solve the PDEs and the partial integro-differential equations (PIDEs). Control parameters are varied to see their influences that affect the control performance. The results of the control are presented via computer simulation to verify that the control scheme is effective.