Vibration Minimisation of Moving Flexible Slender Structures Based on Time-Parameterised B-Spline

Abstract

Vibration mitigation of moving flexible structures is a key issue in many applications. Examples include antennas, solar arrays, radar reflectors, and manipulator arms, especially in the aerospace sector. These structures typically consist of inter-connected slender and flexible elements moved by external actuators to reach specific configurations and positions. The movements excite vibrations, which lead to the risk of structural and fatigue failures; once in position, residual vibrations can be further amplified by structure lightness, causing bad performance and malfunctioning of onboard sensors. This paper proposes an effective technique to minimise the vibration of moving flexible structures by calculating the control points of a time-parametrised B-spline representing the shape of the motion law. A testing case of a rotating cantilever beam is considered. Validation using multi-flexible-body simulation software has shown the method’s effectiveness in minimising residual vibrations.

Keywords

• joint trajectory planning
• vibration reduction
• B-spline curves
• quadratic programming
• flexible slender structures