Finite Element Modeling of a Highly Flexible Rotating Beam for Active Vibration Suppression With Piezoelectric Actuators
In this paper a new finite element model (FEM) is introduced for the analysis of a highly flexible beam undergoing large deformations due to fast slewing. The finite element model uses a novel absolute nodal coordinate formulation (ANCF) that employs a third order twisted cubic spline geometry. Galerkin’s method of weighted residuals is applied to discretize equations of motion derived for the beam continuum. The model exploits a synergy between the twisted spline geometry and the lumped mass approximation to halve the size of the matrix equations that must be solved on each time step. In the simulation of fast slewing maneuvers, a very slender beam is considered and the elastic deformations experienced are an order of magnitude larger than cases considered to date. Closed-loop control simulation results, using PD feedback for both hub and piezoelectric actuator control, show that the proposed schemes are effective in suppressing very large vibrations. These results show the potential of the proposed FEM as an effective design and simulation tool for analyzing a highly flexible beam undergoing fast slewing, and for synthesizing vibration controllers for piezoelectric actuators.