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

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.

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...

AI Technical Summary

Problems solved by technology

[0003] At present, most researches on the vibration control of Euler-Bernoulli beams use methods such as PID control and robust control, but there are few reports on backstepping iterative learning control methods.

Images