Vibration Suppression of a Rotating Hub-beam System Including Gravity Using Two-time Scale Control

In this paper a rotating hub-beam system is considered for modeling and control. The system consists of a solid rotating cylinder and a flexible arm with a payload at the end which is attached to the cylinder. The case of rotation in the presence of gravity field is considered separately. The flexible arm is assumed as an Euler-Bernoulli beam. We have used the Lagrange method to obtain the equations of motion of the system. Also the RayleighRitz technique have been used to discretize the equations of motion. Finally designing of an appropriate two-time scale controller is considered in order to suppress vibrations of the arm and tracking the desired angular position of the hub simultaneously. The simulation results show the excellent performance of the controller.