Maneuvering and Active Vibration Control of Slewing Flexible Beam using Input Shaper

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This research is concerned with the derivation of equations of motion for a slewing beam and the application of input shaper to the bang-bang control to achieve vibration suppression. When a uniform beam with a tip mass rotates about the axis perpendicular to the undeformed beam's longitudinal axis, it experiences inertial loading. Hence, the beam vibrates. In this paper, we used the input shaper for the maneuvering control to suppress vibrations. The maneuvering control which can achieve a minimum-time control is a bang-bang control. The input-shaped bang-bang maneuvering is used to suppress vibrations both theoretically and experimentally. The slewing beam experiment is not an easy subject because of the inherent damping existing inside the rotor. We propose the use of a negative damping to eliminate the rotor damping. Numerical and experimental results show that the input-shaper can be effectively used for the vibration suppression of a slewing beam.