中心刚体-柔性悬臂梁系统的位置主动控制

以往对中心刚体-柔性悬臂梁系统的主动控制研究多是基于零次近似模型和线性化模型进行的，而且认为零次近似模型为足够精确动力模型，但是已有研究结果显示出，零次近似模型在对系统动力学行为进行描述时存在某些局限性。本文采用一次近似模型对中心刚体-柔性悬臂梁系统的位置主动控制进行研究，其中控制律采用最优跟踪控制理论进行设计。仿真结果显示，传统的零次近似模型存在着失效的可能，最优跟踪控制方法能使中心刚体-柔性悬臂梁系统到达期望的指定位置，并可使系统的残余振动得到抑制。

Active position control of a flexible hub-beam system

In the past studies for active control of flexible hub-beam system,linear model and zeroth-order approximation model are usually used as control model,and it is often thought that the zeroth-order approximation model is valid in representing the dynamic behavior of the system.However recent studies indicate that there exists in fact some limitations of the zeroth-order approximation model .In this paper,a first-order approximation model is applied for active position control of a flexible hub-beam system,where the controller is designed by the classical optimal tracking control theory.Simulation results demonstrate that the traditional zeroth-order approximation model may result in divergence to the dynamic problem of a flexible hub-beam system.The desired hub-beam position may be obtained by the optimal tracking controller and the residual vibration of the flexible beam may be repressed as well.