Abstract
In this paper, control-oriented models are derived for an experimental setup representing the structure of a typical high bay rack feeder. To develop a real-time applicable control algorithm, a frequency analysis is performed for the original viscoelastic double-beam structure. This leads to a simplified Bernoulli beam model with specific boundary conditions. On the basis of the proposed model, a feedforward control strategy is designed. The control objective under consideration is to move the flexible structure to a desired position in a given time interval and to minimize the relative mean energy stored in the beams during the process. A modification of the method of integrodifferential relations, which is based on a projection approach and a suitable finite element technique, is employed to optimize the controlled motions. Results of numerical simulations are presented and compared with experimentally measured data from the experimental setup.
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