제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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- Pages.1087-1090
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- 1996
유연우주비행체의 선회 및 진동억제를 위한 Torque Shaping 기법에 관한 연구
A study on torque shaping method for slewing and vibration suppression of flexible structures
초록
The objective of this paper is to present a new input torque shaping method for slewing and vibration suppression of flexible structure based on Fourier series expansion. Vibration energy of the structure with shaped control input is investigated with respect to the shaping parameter of the reference torque, maneuver time and the number of trigonometric functions to be included in the series. Analytic expressions of the performance indices and their derivatives are derived in the modal coordinates. Numerical results show the effectiveness of the proposed approach to design the open-loop control law that modifies the shape of input torque for simultaneous slewing and vibration suppression.