Dynamic modeling and neural network compensation for rotating Euler-Bernoulli beam using a novel deformation description method

• Dongyang Shang ^[2] ; Xiaopeng Li ^[2] ; Meng Yin ^[1] ; Fanjie Li ^[2]
  1. [1] Shenzhen Institutes of Advanced Technology

     Shenzhen Institutes of Advanced Technology

     China

     
  2. [2] School of Mechanical Engineering and Automation, Northeastern University, Shenyang, PR China
• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 52, Nº. 7, 2024, págs. 3870-3899
• Idioma: inglés
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• Resumen

  • Dynamic models that consider multiple nonlinear factors including the two-dimensional deformation and higher-order modes are too computationally complex to be suitable for real-time control of the rotating Euler-Bernoulli beam. This article proposes a new dynamic modeling method according to the assumed mode method. The new modeling method not only has high modeling accuracy but also has a brief mathematical expression. In addition, based on the new modeling method, a neural network sliding mode control strategy using the saturation function is designed to improve the rotational accuracy of the Euler-Bernoulli beam. In the control law design, the saturation function is proposed instead of the unit step function to reduce the chattering phenomenon. Simulation and control experiments describe that the new dynamic modeling method has higher modeling accuracy than the modeling method based on the one-dimensional deformation; the proposed strategy can effectively decrease the rotation angle tracking error of the rotating Euler-Bernoulli beam and improve the control accuracy.