Abstract
The “Exact” and pole/zero transfer functions are developed for a flexible beam-like single structural link with actuator on one end and payload on the other. This model represents a broader class of actuator hub and payload mass properties than is found in prior literature. The dependence of dynamics on the hub and payload are studied and graphs are provided to facilitate estimation of poles and zeroes for any similar plant. It is shown that a 10:1 reduction in fundamental frequency and substantial change in mode shape results from variations in payload through a practical range. Payload rotary inertia is shown to cause a qualitative change in mode shape resulting in loss of observability/controllability in some cases. Implications to plant and control design are discussed including sensor placement and accommodation of dynamic changes. Analytical results are compared to those measured on an experimental beam and show very good agreement in modal frequency and shape.
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