DYNAMICS AND CONTROL OF A FLEXIBLE BEAM WITH IMPACTS

摘要

The linear control of a parametrically excited impacting flexible link in rotational motion is considered. The equation of motion for such a system contains time periodic coefficients. To suppress the vibrations resulting after the impact with an external rigid body, a linear controller is designed via Lyapunov-Floquet transformation. In this approach the time periodic equations of motion are transformed into a time invariant form, which are suitable for the application of standard time invariant controller design techniques. The momentum balance method and an empirical coefficient of restitution is used to model the collision between the two bodies.