SHAPE DETERMINATION AND ACTIVE CONTROL OF FLEXIBLE SPACE STRUCTURES

对一个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估计的变形形状的柔性结构从多点空间分布的测量的结构挠度。估计和控制设计是基于一个无限维的方法，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方法的可行性，确定了最优静态控制力，使系统的综合恢复误差最小。控制设计方法已通过最小二乘估计算法。实验结果表明，该方法的误差大小主要取决于驱动器的数量和位置。 ...更多信息 光学传感系统的主要组成部分包括安装在实验结构上的激光扫描仪和回射器（角隅棱镜）。测量系统确定指向目标角隅棱镜的视线矢量。由于激光束在每个旋转周期内依次扫描所有角隅棱镜，因此该方法适合于短时间内的多点测量。实验结果表明，该系统能有效地测量结构的挠度，并能有效地抑制柔性结构的振动。针对降阶控制器因溢出现象而不稳定的问题，提出了一种结构与控制一体化设计方法。这种方法允许设计者获得一个有效的和稳定的控制器的肌腱控制的高度灵活的结构。通过数值仿真和硬件实验验证了所提出的设计方法的有效性。少

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