SHAPE DETERMINATION AND ACTIVE CONTROL OF FLEXIBLE SPACE STRUCTURES

柔性空间结构的形状确定和主动控制

• 批准号: 04650054
• 负责人: OKUBO Hiroshi
• 金额: $ 1.28万
• 依托单位: Osaka Prefecture University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1992
• 资助国家: 日本
• 起止时间: 1992 至 1993
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-04650054/
• 关键词: FLEXIBLE SPACE STRUCTURES; SHAPE CONTROL; VIBRATION CONTROL; ACTIVE CONTROL OF STRUCTURE.; LASER TECH.FOR MEASUREMENT SYSTEMS; VIBRATION SUPPRESSION; FLEXIBLE ANTENNA; 形状計測; アクティブ制御; 構造制御

Simulation and experimental studies have been done for the shape estimation and control of a simple structure. The problem of shape determination consists of estimating the deformed shape of a flexible structure from multi-point spatially distributed measurement of the structural deflections. The estimation and control designs are based on an infinite-dimensional approach that introduces the necessary finite element truncation and approximation after solving the estimation problem. The results of the numerical simulations showed the feasibility of the proposed estimation method.The optimal static control force is determined to give the minimum integrated restoration errors. The control design approach has been developed through the least squares estimation algorithm. It appears that the magnitude of the restoration errors largely depends on the number of available actuators and their locations.A prototype remote optical sensing device has been developed for the staic shape measurement. … More The main component of the optical sensing system consists of a laser scanner and retro-reflectors (corner cubes) mounted to the experiment structure. The measurement system determines the line of sight vector pointing the target corner cube. Since the laser beams scan all the corner cubes sequentially in each rotation cycle, the proposed method is fitted to the multi-point measurement in short time. The prototype measurement system has been tested for measuring the deflections of a simple beam.A tendon control system is under study for the vibration suppression of flexible space structures. A method of integrated structural and control design has proposed for preventing the reduced-order controller from being unstable due to spilover phenomina. This approach allows the designer to obtain an efficient and stable controller for the tendon control of highly flexible structures. The usefulness of the proposed design approach was validated through both numerical simulations and hardware experiments. Less

对一种简单结构的形状估计和控制进行了仿真和实验研究。形状确定的问题包括根据结构挠度的多点空间分布测量来估计柔性结构的变形形状。估计和控制设计基于无限维方法，该方法在解决估计问题后引入必要的有限元截断和近似。数值仿真结果表明了该估计方法的可行性，确定了最优静态控制力，使综合恢复误差最小。通过最小二乘估计算法给出了控制器的设计方法。恢复误差的大小在很大程度上取决于可用驱动器的数量和位置。…此外，光学传感系统的主要部件包括激光扫描仪和安装在实验结构上的反向反射器(角锥体)。测量系统确定指向目标角立方体的视线矢量。由于激光在每个旋转周期内依次扫描所有的角锥体，因此该方法适用于短时间内的多点测量。样机测量系统已用于简支梁的挠度测量，柔性空间结构的索控系统正在研究中。为防止降阶控制器因溢出现象而失稳，提出了一种结构与控制相结合的设计方法。这种方法使得设计者能够获得用于高度柔性结构的筋控制的高效和稳定的控制器。通过数值仿真和硬件实验验证了该设计方法的有效性。较少

项目成果

H.Okubo and G.Schmidt: "Applied Control(Chapt.33)" S.Tzafestas(ed.) Marcel Dekker,New York, 1051 (1993)

H.Okubo 和 G.Schmidt：“应用控制（第 33 章）” S.Tzafestas（编辑）Marcel Dekker，纽约，1051 (1993)

H.Okubo, N.Komatsu, O.Fukudomi and T.Tsmura: "Shape determination of Flexible Structures by Using a Remote Optical Sensing System" in Robotics, Mechatronics and Manufacturing Systems, Takamori and Tsuchiya (Eds.), North-Holland, Amsterdam. 949-954 (1993)

H.Okubo、N.Komatsu、O.Fukudomi 和 T.Tsmura：“使用远程光学传感系统确定柔性结构的形状”，《机器人、机电一体化和制造系统》，Takamori 和 Tsuchiya（编辑），北荷兰，

Okubo,Hiroshi: "Shope Determination of Flexible Space Structures by Using a Remote Optical Sensing System" Proc.IMACS/SICE International Symposium on Robotics,Mechatronics and Manifacturing Systems. 2. 1473-1478 (1992)

Okubo,Hiroshi：“使用远程光学传感系统确定柔性空间结构的车间”Proc.IMACS/SICE 国际机器人、机电一体化和制造系统研讨会。

H.Okubo and G.Schmidt: "An Espenimental Study of Tendon Control System for Active Vibration Control of Flexible Structures" Proc.of the 1st Int.Conf.on Motion and Vibration Control. 1. 98-103 (1992)

H.Okubo 和 G.Schmidt：“柔性结构主动振动控制腱控制系统的实验研究”第一届运动与振动控制国际会议论文集。

H.Okudo and G.Schmidt: "An Experimental Study of Tendon Control System for Active Vibration Control of Flexible Structures" Proc.of the Ist Int.Conf.on Motion and Vibration Control. 98-103 (1992)

H.Okudo 和 G.Schmidt：“用于柔性结构主动振动控制的腱控制系统的实验研究”Proc.of the Ist.Conf.on Motion and Vibration Control。