Bending and torsional vibration control of flexible structure using h-infinity based robust control

摘要

This paper proposes a mehtod of controlling the bending and torsional vibration of a flexible structure using H_(infinity) based optimal control. For this propose, we make a recuced order lumped mass model expressed by 3-DOF systems, considering the first three vibration modes and neglecting all the other high frequency modes. These neglected modes are regarded as unstructured uncertainties in the time of their design process. To prevent slipover instability (prevent the influence of neglected mode), a modeling method based on the occurrence of uncontrollability and unobservability realized structurally at the nodes of the vibration modes is applied. Then, a static state feedback controller is designed based on the reduced order model and the approximate knowledge of the unmodeld uncertainties. The first three vibration modes of the flexible structure are controlled using a hybrid dynamic absorber here. The discrete model and the control design are verified through numerical simulations and experimental studies.