Modeling of Actuator-Structure Interaction in the Slewing of Flexible Structures

This paper examines the modeling of a single link flexible slewing beam, torque driven by a DC electric motor at the slewing axis. A generalized model is achieved by including the interaction of the actuator and flexible structure. The effects of this interaction are also included in the motor dynamics. The boundary conditions of the structure are formulated in terms of the effective actuator inertia. A study is performed for systems with varying degrees of actuator-structure interaction using a controllability norm computation.