Abstract

This study investigated the dynamics and vibration reduction for axially-extending cantilever beams subjected to gravity. Command shaping on the extension velocity was used to reduce the vertical vibration of the extending beams. Because conventional command shapers have limited effectiveness due to the time-varying properties of the system, this study presented an optimization procedure on the damping and frequency for designing the command shaper. Simulations were performed to analyze the vibration problem and to characterize the performance of the optimized command shaper. Experiments were also performed to validate the proposed, optimal command shaper.

Keywords:

Command shaping, extending beams , optimization , residual vibration , vertical vibration,

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Competing interests

The authors have no competing interests.

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