A Single-Axis Testbed for Slewing Control Experiments

In this paper, a simple single-axis testbed is described and initial experimental results are presented to illustrate collocated and non-collocated control for this structure. The testbed is made up of a pair of single-axis flexible beams attached to a dc servo motor. An optical encoder and strain gauges provide hub and beam position information, respectively. The system is driven by an IBM PC system; with a Cyber Research Inc. motor controller, a programmable digital filter processes position error information through user-selected gains and pole-zero configurations. A 25kHz data acquisition system provides the necessary interface between processor and motor. The control approaches currently being investigated include collocated PD control and non-collocated phase compensation.