The Motion Control of Flexible Beam Structure

• Main Authors: Tsai, Yung-Chih, 蔡永智
• Other Authors: Shiaw-Wu Chen
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/21191392869021066077

碩士 === 逢甲大學 === 自動控制工程研究所 === 86 === In this thesis, an experiment platform that consists of a pin-free beam, a servo motor, strain gauges, an encoder, an A/D & D/A card and a PC-486, has been developed to study the control of a one-link flexible arm. The control problem studied is to control the rotation angle and the vibration of the beam. In this study, the electronic circuits of the sensors aredesigned and calibrated. The problem of noise generated by the motor-driver is treated. The mathematics model of the system is established by a system identification method. After that the LQG control is applied to design the controller. The simulation results and experimental results show that the LQG works well.