Design and Digital Signal Processor Implementation of a Controller for Flexible Structures

Abstract

A control system for a single link light-weight flexible robot manipulator is designed and implemented on a Digital Signal Processing (DSP) chip, which controls the link dynamics via the applied motor torque. Different models of this flexible structure are studied including a nonlinear Galerkin model, linearized Galerkin model, and linear beam theory model; and these are compared through simulation to the empirical system response. A geometric Input-Output Linearization of the nonlinear system is achieved with respect to the hub angle and hub rate. Experimental system identification, performed on the flexible beam, suggests we can adequately model the flexible beam using linear theory and an optimization of the Feedback Controller is performed. Finally, this controller is implemented on a DSP chip and various aspects (programming, timing, synchronization, etc.) of DSP-based feedback control system implementation are presented.