Vibration control of a rotating two-connected flexible beam using chattering-free sliding mode controllers

摘要

Two-connected flexible beam systems with rotating boundary conditions are widely used in spacecraft applications. The dynamics equation of the two-connected flexible beam system is obtained by using finite element method. Considering the connected parts in the rotating two-connected flexible beam, plate elements are used instead of beam elements for the finite element analysis. The optimal placement of piezoelectric sensors/actuators is studied using a singular value decomposition method. To suppress the excited vibration, a kind of fast terminal sliding mode (FTSM) control algorithm and a fuzzy fast terminal sliding mode (FFTSM) control algorithm are investigated. Also, a local linearization switching construction and a fuzzy logical adaptation system for feedback control gain are brought in FFTSM, to achieve a balance between the control performance and chattering phenomenon. A rotating two-connected flexible beam system is built up to simulate the vibration and control performance of the space flexible manipulator and solar panel under the expending and locking situation. Experiments on set-point vibration control, respectively driven by PZT actuators and AC motor torque using harmonic drive gear as speed reducer are conducted by utilizing the designed control algorithms, compared with the classical proportional derivative control algorithm. The experimental results demonstrate that the designed FTSM and FFTSM algorithms can significantly improve the vibration reduction performance and eliminate the chattering phenomenon effectively.