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ACTIVE SHAPE AND VIBRATION CONTROL OF FLEXIBLE SPACE STRUCTURES

柔性空间结构的主动形状和振动控制

基本信息

批准号：
08651091
负责人：
OKUBO Hiroshi
金额：
$ 1.41万
依托单位：
OSAKA PREFECTURE UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1996
资助国家：
日本
起止时间：
1996 至 1997
项目状态：
已结题

项目摘要

1. Since design models of flexible space structures contain significant uncertainties, the designed controller must have sufficient robustness with respect to such model uncertainties. Besides, space structures have abundant structural design freedom that enables simultaneous/integrated design of structure and controller. In this research project, a method of structure/controller design via robust pole assignment has been developed for active vibration suppression of flexible structures. The proposed method assigns the closed-loop eigenvalues at target locations and quasi-minimizes the condition number of the closed-loop modal matrix by designing structure and controller parameters. The condition number is a measure of the closed-loop system robustness that is related to the maximum deviation of the closed-loop eigenvalues subject to perturbations of the system matrix. The condition number is also a measure of the control performance, which gives the upper bound of magnitude of feedbac … More k gain matrix and transient responses. Therefore reducing the condition number improves tabiliy rebustness and control performance of the designed closed-loop system. The proposed method further reduces the resulting closed-loop condition number via structure/controller design. The target closed-loop pole locations can also be redesigned as the design parameters. A new index of condition number has been introduced as the cost function. Use of this index in place of actual condition number reduces computational effort and improves problem solvability. Feasibility of the proposed method is examined by numerical simulations.2. Fundamental studies have been done for developing methods of shape measurement, estimation and control for active shape control of flexible structures. The proposed estimation and control design methods have been applied to a tendon shape control system for a cantilevered beam. The results of numerical simulation show that the magnitude of the restoration errors largely depends on the number of available actuators and their locations. Less

1.由于柔性空间结构的设计模型中含有大量的不确定性，所设计的控制器必须对这些模型不确定性具有足够的鲁棒性。此外，空间结构具有丰富的结构设计自由度，可以同时/集成设计的结构和控制器。本研究针对挠性结构的主动振动抑制问题，提出一种基于鲁棒极点配置的结构/控制器设计方法。该方法通过设计结构参数和控制器参数，将闭环特征值分配到目标位置，并准最小化闭环模态矩阵的条件数。条件数是闭环系统鲁棒性的度量，它与系统矩阵摄动时闭环特征值的最大偏差有关。条件数也是控制性能的一个度量，它给出了反馈量的上界 ...更多信息 k增益矩阵和瞬态响应。因此，减少条件数可以提高闭环系统的稳定性和控制性能。所提出的方法通过结构/控制器设计进一步减少了由此产生的闭环条件数。目标闭环极点位置也可以重新设计为设计参数。引入了一个新的条件数指标作为代价函数。使用该指数代替实际条件数减少了计算工作量，提高了问题的可解性。通过数值仿真验证了该方法的可行性.为柔性结构主动形状控制的形状测量、估计和控制方法的发展做了基础性的研究。所提出的估计和控制设计方法已被应用到悬臂梁的肌腱形状控制系统。数值模拟结果表明，恢复误差的大小在很大程度上取决于可用的驱动器的数量和它们的位置。少