Research on Tendon Control System for Flexible Space Structures

1.腱控制系统设计研究（1）输出反馈控制（Low-Authority Control; LAC）：为大型柔性空间结构的腱控制系统设计提供了一种确定最佳输出反馈增益和力臂位置的有效方法。该方法采用非线性规划技术优化设计参数，使闭环极点在复平面上尽可能接近所需极点位置。(2)模态控制的状态反馈（高权威控制; HAC）：调查是两种设计方法，提供了所设计的控制器的稳定性鲁棒性和避免不稳定，由于模式截断误差（溢出）。一种是（a）LAC/HAC设计方法，另一种是（B）环路传递恢复（LTR）方法。通过数值仿真验证了前一种方法的有效性.柔性梁索力控制系统的室内试验 ...更多信息 在实验室建立了柔性梁控制实验的控制系统。它由一对安装在梁上的力矩臂、一个电动力执行器和一个位于梁根部的旋转连杆以及连接连杆与力矩臂的拉力索（肌腱）组成。通过硬件实验，验证了该控制系统用于高柔性结构振动主动控制的基本可行性。(1)实验预应力束控制系统动力学建模与辨识：采用有限元法（GEM）建立了梁/预应力束耦合系统动力学的数学模型。包括在建模的重力，轴向静载荷产生的张力电缆，和比例阻尼的贡献。肌腱驱动器被建模为一个附加的单自由度振动系统。有限元模型中的未知参数由实测响应确定。结果表明，理论计算与实验结果吻合较好. (2)直接速度反馈控制实验：速度反馈控制方案已被应用于开发的肌腱控制系统。力矩臂的角速度或旋转杆的角速度被反馈到电动执行机构。前一种系统由于腱致动器的动力学特性而导致闭环不稳定，而后一种系统表现出稳定的控制和有效的振动阻尼。这些事实表明，肌腱驱动器系统的动力学在控制系统设计中起着重要的作用。少

1. Studies on the Design of Tendon Control System(1) Output Feedback Control (Low-Authority Control; LAC): A useful method is developed for determining the optimum output feedback gains and moment-arm location for the design of tendon control system for large flexible space structures. The proposed method employs a nonlinear programming technigue to optimize the design parameters so that the closed-loop poles may be placed in the complex plane as close to the desired pole locations as possible.(2) Modal Control by State Feedbacks (High-Authority Control; HAC): Investigated are two design approaches which provide the designed controller with stability robustness and avoid instability due to mode truncation errors (spillovers). One is (a) LAC/HAC design method and the other is (b) the Loop Transfer Recovery (LTR) approach. The effectiveness of the former method is verified by numerical simulations.2. Laboratory Experiment of Tendon Control System for a Flexible BeamThe prototype tendon c … More ontrol system has been built for a flexible beam control experiment in the laboratory. It consists of a pair of moment arms mounted on the beam, an electrodynamic force actuator and a rotating link at the beam root, and tensile cables (tendons) connecting the link with the moment arms. The hardware experiment has been done successfully, which shows the fundamental feasibility of the tendon control system for the active vibration control of highly flexible structures.(1) Modeling and Identification of the Dynamics of the Experimental Tendon Control System: A mathe-matical model of the coupled beam/tendon system dynamics has been constructed with a finite element method(GEM). Included in the modeling are the contributions of gravitational force, axial static load generated by the tension cables, and proportional dampings. The tendon actuator is modeled as an added one-degree-of -freedom vibrating system. The unknown parameters in the FEM model are determined from the measured responses. The result shows satisfying agreement between the theory and the experiment.(2) Direct Velocity Feedback Control Experiment: Velocity feedback control scheme has been applied to the developed tendon control system. Either of the angular velocity of the moment arms or that of the rotating link was fedback to the electrodynamic actuator. The former system caused a closed-loop in-stability due to the dynamics of the tendon actuator, whereas the latter showed a stable control and ef-fective vibration damping. These facts show that the dynamics of the tendon actuator system plays an important role in the control system design. Less