Enhancing Controllability and Observability in Under-Actuated/Under-Sensed Systems through Switching: Application to Vibration Control

通过切换增强欠驱动/欠感系统的可控性和可观测性：振动控制的应用

• 批准号: 0409388
• 负责人: Ranjan Mukherjee
• 金额: --
• 依托单位: Michigan State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-08-15 至 2009-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0409388&HistoricalAwards=false
• 关键词: Enhancing; Controllability; Observability; Under; Actuated

Enhancing Controllability and Observability in Under-Actuated/Under-Sensed Systems through Switching: Application to Vibration ControlAbstractMany dynamical systems employ transducers that can function both as actuators and sensors and the objective of this research is to investigate under actuation and under-sensing in such systems for reduction in control system hardware. As compared to the traditional approach, where transducers are used as dedicated actuators and sensors, we propose to continuously switch the functionality of the transducer elements between actuator and sensor modes such that each element effectively serves both as an actuator and sensor. This provides the scope for significant reduction in the number of transducers and associated hardware without any loss in controllability or observability. We propose to develop switching, control, and sensing algorithms for optimal system performance, but since these algorithms will depend on the transducer type we will focus on the specific problem of vibration suppression using capacitive piezoelectric transducers. In particular, we will (a) determine the optimal number and location of transducers in a given structure, wherein each transducer is used both as an actuator and sensor, but not simultaneously, (b) determine the "best" fixed partition of the transducers into actuators and sensors, knowing that their roles will reverse with every switching, (c) design a rule for partitioning the transducers into actuators and sensors at every switching based on feedback, rather than using a fixed partition, (d) determine optimal switching intervals, optimal controller and observer gains, and optimal number of switchings, (e) investigate the possibility of fast switching with the objective of deriving the benefits of collocation without sacrificing stability, and (f) conduct experiments to ascertain enhancement of controllability and observability, investigate the merit of introducing under-actuation and under-sensing, address the challenges of implementing switching algorithms, and validate the theoretical results. The concept of switching transducers between actuator and sensor modes, although simple, is novel and has not been explored earlier. This research will provide the scope for significant reduction in control system hardware and although it is being proposed here for piezoelectric transducers, it can be extended to other transducer types and profitably applied to many other dynamical systems, such as active magnetic bearings, MEMS resonators, and thermoelectric cooling devices.

通过切换增强欠驱动/欠传感系统的可控性和可观测性：振动控制的应用摘要许多动力系统采用传感器，可以同时作为执行器和传感器，本研究的目的是调查在这种系统中的驱动和欠传感，以减少控制系统的硬件。与传统方法相比，其中换能器被用作专用致动器和传感器，我们提出在致动器和传感器模式之间连续切换换能器元件的功能，使得每个元件有效地用作致动器和传感器。这为传感器和相关硬件的数量的显著减少提供了范围，而不会损失可控性或可观察性。我们建议开发开关，控制和传感算法的最佳系统性能，但由于这些算法将取决于传感器类型，我们将专注于使用电容式压电传感器的振动抑制的具体问题。特别地，我们将（a）确定给定结构中换能器的最佳数量和位置，其中每个换能器既用作致动器又用作传感器，但不是同时使用，（B）确定换能器到致动器和传感器的“最佳”固定划分，知道它们的角色将随着每次切换而颠倒，（c）设计用于在每次切换时基于反馈而不是使用固定划分将换能器划分为致动器和传感器的规则，（d）确定最优切换间隔、最优控制器和观测器增益以及最优切换次数，（f）进行实验以确定可控性和可观测性的增强，研究引入欠驱动和欠感测的优点，解决实施切换算法的挑战，并验证理论结果。在致动器和传感器模式之间切换换能器的概念虽然简单，但却是新颖的，并且先前没有被探索过。这项研究将提供的范围内显着减少控制系统的硬件，虽然它是在这里提出的压电传感器，它可以扩展到其他类型的传感器和有益地应用到许多其他的动态系统，如主动磁轴承，MEMS谐振器，热电冷却设备。