The Control of Flexible Beam using Nonlinear Compensator with Dual-Input Describing Function

쌍입력 기술함수를 갖는 비선형 보상기를 이용한 유연한 빔의 제어

In this paper , a state space model for flexible beam is presented using the assumed-modes approach. The state space equation is derived for a flexible beam in which one end is connected to a motor and is driven by a torque equation and the other end is free. Many of the transfer function proposed thus far use the torque to the flexible beam as the input and the tip deflection of the flexible beam as the output. The Technique for the analysis and synthesis of the dual-input describing function(DIDF) is introduced here and the construction of a non-linear compensator, based on this technique, is proposed. This non-linear compensator, properly connected in the direct path of a closed-loop linear or non-linear control system. The above non-linear network is used to compensate linear and non-linear systems for instability, limit cycles, low speed of response and static accuracy. The effectiveness of the proposed scheme is demonstrated through computer simulation and experimental results.