Control of coupling vibrations in a linked flexible system. (1st report Modelling of a linked flexible system and its basic control characteristics)

摘要

Large space structures (LSS) will be constructed by linking flexible structures and so will easily undergo coupling vibrations due to disturbances. In this paper, a vibration control is proposed for such a linked flexible system by allocating actuators at the joint of the linkage between the adjacent flexible structure and controlling these actuators, so that the coupling vibrations should be decreased. In order to derive the dynamics of such a linked system, first a flexible structure with rigid bodies at each end is modelled by the bending vibration equation, employing the unconstrained mode method under the assumption that the linked flexible system vibrates only in a bending way. Then the proposed control method is applied to a flexible system for the experiment, which is totally floated by air bearings at joints, so that there is no reaction force from the ground to the floating joint and vice versa, unlike a robotic manipulator. Some experimental results are shown to demonstrate the effect of the proposed method.