Study and experimental validation of a distributed parameter model applied to a slewing motion flexible structure

Abstract

The study of active vibration control techniques are important to several Engineering fields,such as, Aerospace Engineering, micro and nanoelectromechanical systems, Robotics, ElectricMachines, Wind Power Generation, among others. Underdamped vibrations in slewing motionflexible structures, such as wind power rotor blades or solar panels in artificial satellites, de-crease the stability margins, degrading the system. Therefore, a well damped response mustbe assured in order to mitigate wear and equipment failure. Robotic manipulators with lightand flexible structures are low power demanding, presenting a better weight ratio for pay-load and manipulator, allowing faster motion. These kind of robotic manipulators are usedfor nonconventional applications, such as space missions. For control systems design accu-rate mathematical models are needed in order to precisely represent the observed phenomena.Thus, this work aims to develop mathematical models for slewing motion flexible structures,with subsequent experimental validation, considering distributed parameters models. However,distributed parameters models result in partial differential equations systems, impairing thedynamical analysis and the control system design. Consequently, the assumed modes methodwill be used. Additionally, for the model validation the Quanser's Rotary Flexible Link systemobtained from the FAPESP project (Proc: 2013/04101-6) will be used.