High precision tip angle control of a flexible beam with drive line dynamics

A high precision control system for the tip angle of a flexible beam has been designed. The control system consists of a full state feedback, linear quadratic (LQ), controller augmented with the integral of tip angle error. A novel form of flexible beam model is used which consists of rigid sections with distributed mass, connected together by imaginary pinjoints, torsional springs and dampers. A realistic model of the drive line dynamics has been included in the system model. Simulated results of the system model and control system are presented.