Modeling and control of multibody system with flexible appendages

Abstract

The objective of this work is to describe the design and the implementation of an experiment to study the dynamics and the active control of a slewing multi-link flexible structure. The experimental apparatus was designed to be representative of a flexible space structure such as a satellite with multiple flexible appendages. In this study we describe the design procedures, the analog and digital instrumentation, the analytical modeling together with model validation studies carried out through experimental modal testing and parametric system identification studies in the frequency domain. Preliminary results of a simple positional control where the sensor and the actuator are positioned physically at the same point is also described

Notes on vibration control of a micro/macromanipulator mounted on a flexible structure

“…The motion of the cylindrical macro-manipulator is used only to position the FSMS on its workspace, and excite the vibration degrees of freedom of this system. A generalized flexible homogeneous transformation and a symbolic manipulation are applied to derive the equations of motion [62,63]. The generalized coordinates are the angular displacement of the micro-manipulator joint, q ¼ q r (t ), and the modal coordinate, q f (t ), associated with the elastic displacement of the beam, w (x,t).…”