フレキシブル・ビームの曲げ・ねじり非結合振動のフィードバック制御

抄録

In this paper, we consider a flexible beam having a rigid tip body, of which the mass center lies on the centroidal axis of the beam. In this case the bending vibration and the torsional vibration of the beam are decoupled. Therefore we need two control motors to suppress the vibrations. Each set of dynamic equations is derived in the form of evolution equation in an appropriate Hilbert space. A stabilizing feedback control law of each rotation motor will be established on the basis of modal analysis. Experimental method is discussed in detail, and the results demonstrate the validity of the dynamic model and the proposed control law.