Control of Position and Bending-Torsion-Coupled Vibration of Rotating Elastic Plate Using Double Tendon Mechanisms

Abstract

For a control method of position and bending-torsion-coupled vibration of a rotating plate, a control method using double trapezoid tendon mechanisms is presented in this study. The proposed trapezoid tendon mechanisms consist of two control sticks, two pairs of wires and two driving sticks individually driven by motors. First, the modeling of the proposed mechanism is carried out by applying the Lagrange's equation method and the modal expansion technique. Secondly, by formulating the crite rion function to take into account the square sum of the rotation angle, the bending, stress and the torsion angle of a thin plate, the optimal control law is derived. Finally, in order to investigate the usefulness of the mechanism, computer simulations and experiments were carried out. To summarize the results, it was demonstrated that the proposed control mechanism is useful for the controls of both the positioning and the vibrations.