Euler-Bernoulli beam vibration control method based on backstepping iterative learning

An iterative learning and iterative technology, applied in the field of vibration control of Euler-Bernoulli beams, can solve the problem that the backstep iterative learning control method is rarely reported, achieve less prior knowledge and calculation amount, strong adaptability, Easy to achieve effects

CN110673469AActive Publication Date: 2020-01-10SOUTH CHINA UNIV OF TECH +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2020-01-10

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Abstract

The invention discloses an Euler-Bernoulli beam vibration control method based on backstepping iterative learning. The method comprises a step of constructing an Euler-Bernoulli beam system accordingto dynamic characteristics of an Euler-Bernoulli beam, a step of constructing a vibration control method based on the backstepping iterative learning according to the Euler-Bernoulli beam system in combination with a Lyapunov method, wherein virtual control quantity design, backstepping item design and iterative item design are included, a step of verifying the stability of the Euler-Bernoulli beam system under the vibration control method, a step of performing digital simulation on the Euler-Bernoulli beam system by using MATLAB simulation software and verifying whether a control effect meetsexpectation or not, and a step of adjusting gain parameters of a controller according to a simulation result if not such that the controller has a relatively good control effect. According to the vibration control method based on the backstepping iterative learning provided by the invention, the vibration of the Euler-Bernoulli beam system can be effectively suppressed, so that the Euler-Bernoulli beam system works more stably.
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Description

technical field

[0001] The invention relates to the technical field of vibration control, in particular to a vibration control method of an Euler-Bernoulli beam based on backstepping iterative learning. Background technique

[0002] Flexible structures are widely used in engineering fields such as robotic arms, mechanical engineering, and spacecraft because of their advantages such as light weight and low energy consumption. In the research of systems such as flexible manipulators, flexible risers, and flexible satellites, Euler-Bernoulli beams are often used as the basic model of these flexible structural systems. However, due to the external disturbance, the Euler-Bernoulli beam will produce elastic deformation, and then produce long-term continuous elastic vibration, which will affect the normal operation of the system and become an obstacle to the application of flexible structures in the engineering field. Therefore, how to reduce or eliminate the elastic deformation a...

Examples

Embodiment

[0054] refer to figure 1 , figure 1 It is a flow diagram of the vibration control method of the Euler-Bernoulli beam based on backstepping iterative learning disclosed in the embodiment of the present invention, including the following steps:

[0055] S101. According to the dynamic characteristics of the Euler-Bernoulli beam, construct the dynamic model of the Euler-Bernoulli beam system.

[0056] as attached image 3 As shown, a typical Euler-Bernoulli beam system, the left boundary of the flexible beam is fixed at the coordinate origin, and the boundary controller u(t) and the external unknown disturbance d(t) act on the right side of the flexible beam side. The length of the flexible beam is L, and its vibration displacement is w(x, t).

[0057] The dynamic equation of the Euler-Bernoulli beam structure is as follows:

[0058]

[0059] in, Represent the first and second derivatives of w(x, t) with respect to time, w'(x, t), w"(x, t), w"'(x, t), w""(x, t ) represe...