Three Simple and Efficient Methods for Vibration Control of Slewing Flexible Structures

Abstract

Three simple and efficient methods are presented for the vibration control of slewing flexible structures. These methods are developed based on the constrained motion method in which the rotational maneuver is formulated as prescribed trajectory constraint. The constrained motion method in two stage, CMM-TS, accomplishes the first stage rigid-body slewing motion and minimizes the flexible body vibration at terminal state by an optimal control law. The constrained motion method with active damping, CMM-AD, employs piezoelectric actuator with velocity feedback for active damping control. The required slewing time and settling time is governed by the control torque and control voltage, respectively. The third method, CMM-CO, combines the active damping and optimal torque control for vibration suppression during and after the slewing motion. All methods are shown to be efficient in computation, concise in formulation, and effective in hardware realizable application.