Study of dynamic model and control of a flexible beam

According to the consistent energy principle and the deformation constraint equations, the consistent linear dynamic model in finite dimensions of a horizontally slewing inextensible Euler-Bernouli beam with a tip payload is derived with Dynamic Stiffening effect being considered by using assumptive modes method. To trace the joint angle trajectory precisely, the input-output partial linearing control method is used to decouple the nonlinear model and to generate the desired control input for ideal joint angle trajectory. To suppress the simultaneous elastic vibrations in movement, an elastic stabilization is designed by using the LQR control method. Numerical simulation results are presented to show the effectiveness of the proposed control strategy.EI02152-1571