Actuator, load, and control considerations in the dynamics of a flexible beam-like member

The control of dynamic systems with flexible members is of considerable interest in the design of lightweight robot structures, space structures, certain civil structures, and certain mechanisms. This work combines actuator, load, and control considerations in the generalized analysis and design of a flexible beam-like dynamic system.; The basic model of interest is a continuous flexible hinged beam with a lumped mass at its tip and driven by an actuator along its length. This model is applicable for either a hydraulic or an electric type of actuator. The model includes a servovalve-hydraulic cylinder or motor-transmission arrangement, the rigid body motion of the hinged beam, and the flexural vibrations of the hinged beam. The actuator equations are considered to be fully coupled with the rigid body dynamics and a modal representation of beam vibration. System equations are cast into state space form and analyzed in both real parameter and dimensionless parameter formulations. The model also provides a basis for an extended study to include rotation of the beam about its base via electrical or hydraulic motor actuator.; Various actuator and beam parameter groups are studied and application rules are developed to provide good open loop dynamic performance while suppressing beam vibrations. It is shown that the actuator can be tuned to the beam load to utilize a system damping contribution inherent in the actuation process to provide such performance. Feedback control design is integrated with actuator and beam design to give desirable fast closed loop response with minimal beam vibrations by using simple control schemes with well behaved and tuned open loop systems. Experimental methods to confirm selected results and concepts are also included.