Model based damping of coupled horizontal and vertical oscillations in a flexible rod
This paper reviews the theory associated with vibrations of angularly accelerated cantilevered beams which display significant gravitational sag (coupling the out-of-plane dynamics of the flexible beam) and formulates a control approach for moving such beams to damp residual first horizontal and vertical modes of oscillation. An experimental implementation of the control strategy using an open-loop, single axis torque that is shaped for simultaneous damping of the horizontal and vertical vibrations is described. The experimental control strategy demonstrates more than 99% reduction in the coupled residual vibrations. 9 refs., 5 figs., 1 tab.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (USA)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 5886533
- Report Number(s):
- SAND-88-2876C; CONF-890818-3; ON: DE89007034
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
42 ENGINEERING
420200* -- Engineering-- Facilities
Equipment
& Techniques
DAMPING
DIFFERENTIAL EQUATIONS
EQUATIONS
EQUATIONS OF MOTION
EQUIPMENT
FLEXIBILITY
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL MODELS
MECHANICAL PROPERTIES
MECHANICAL VIBRATIONS
OSCILLATION MODES
PARTIAL DIFFERENTIAL EQUATIONS
REMOTE HANDLING EQUIPMENT
ROBOTS
STRUCTURAL BEAMS
TENSILE PROPERTIES
420200* -- Engineering-- Facilities
Equipment
& Techniques
DAMPING
DIFFERENTIAL EQUATIONS
EQUATIONS
EQUATIONS OF MOTION
EQUIPMENT
FLEXIBILITY
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL MODELS
MECHANICAL PROPERTIES
MECHANICAL VIBRATIONS
OSCILLATION MODES
PARTIAL DIFFERENTIAL EQUATIONS
REMOTE HANDLING EQUIPMENT
ROBOTS
STRUCTURAL BEAMS
TENSILE PROPERTIES