Flatness-based closed-loop control of a rotating Euler-Bernoulli beam: Experimental results

被引：0
|
作者：
Barczyk, Martin [1 ]
Lynch, Alan F. [2 ]
机构：
[1] McGill Univ, Dept Elect & Comp Engn, Montreal, PQ H3A 2A7, Canada
[2] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 2V4, Canada
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1109/ACC.2006.1655454
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A closed-loop flatness-based tracking control of a rotating flexible beam is presented and experimentally validated. The beam system is modeled as a boundary-input-controlled Euler-Bernoulli partial differential equation. Flatness provides an infinite series parameterization of system variables in terms of a flat output and its time derivatives. These parameterizations are used to derive both an open- and closed-loop control. The proposed control is simulated and experimentally validated for rest-to-rest motions.
引用
收藏
页码：799 / +
页数：2
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