Reducing vibrations on flexible rotating arms through the movement of sliding masses: Modeling, optimal control and simulation

Nenhuma Miniatura disponível
Citações na Scopus
Tipo de produção
Artigo de evento
Data de publicação
Terceiro E.
De Toledo Fleury A.
6th Int. Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012
Título da Revista
ISSN da Revista
Título de Volume
Texto completo (DOI)
This paper brings contributions on the proposal of use of translational motions of sliding masses to minimize vibrations induced by the rotational motion of a light flexible manipulator (rotating arm). This system is inspired by rotating cranes used to transport loads. Optimal control methods have been used to generate the slider trajectories while the flexible manipulator performs a rotational maneuver from a fixed to other fixed configuration. This approach has led to good solutions even in case of quite quick maneuvers, as, for example, a 90o beam rotation in just 1 second, using 1 or 2 sliders (Terceiro, 2002). In the present paper, the complete motion equations for any number of masses are firstly presented, in order to emphasize the complexity of the coupled elastic-rotational-translational motions. Simplifying assumptions are pointed out and the corresponding optimal control problems (OCP) are obtained. Optimal trajectories, generated according to different Indexes of Performance and different problem parameters, are analysed and compared in order to get feasible movements for the set.