Experiments reveal drive-train non-linearities degrade control in a flexible beam, suggesting optimization needs.
The adverse effects of three primary drive-train non-linearities (stiction, compliance, backlash) on the end-tip position control of a flexible beam are shown by experiment. The experiment is performed on a specially-designed mechanical positioning test bed, which allows for the introduction of precisely-quantified measures of friction, compliance and backlash into the hub mechanism of a slewing flexible beam. A multi-input and -output model is derived and used to synthesise a linear-quadratic regulator to control the beam vibration and end-tip error via a high-torque hub servo and beam surface-mounted piezoelectric transducers. A degradation in system response is demonstrated when drive-train non-linearities are introduced to the hub mechanism.
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Marchi et al. (1995) studied this question.
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