A Single-Mode Smooth Wave-Form Command Shaping Control Applied on a Flexible Rotating Beam

摘要

A smooth command shaping control is used to eliminate residual vibrations induced by rest-to-rest motion of rotating flexible beams. A single mode numerical analysis is used tested with several examples. A linear based command shaping control function is used to eliminate residual vibrations in nonlinear rotating beams. The advantages of the proposed technique can be expressed as, it has an adjustable maneuvering time, the initial shaper parameters are found analytically, the used profile is smooth which eliminates jerks, and finally it is continuous that it needs only single actuation which eliminate inaccurate timing and delay. Several simulations are conducted to show that the proposed technique is capable of completely eliminates residual vibrations of rotating flexible beams.