0
RESEARCH PAPERS

Displacement Control of Flexible Structures Using Electrohydraulic Servo-Actuators

[+] Author and Article Information
N. H. McClamroch

Department of Aerospace Engineering, The University of Michigan, Ann Arbor, Mich. 48109

J. Dyn. Sys., Meas., Control 107(1), 34-39 (Mar 01, 1985) (6 pages) doi:10.1115/1.3140704 History: Received November 19, 1984; Online July 21, 2009

Abstract

A general approach to the displacement or position control of a nonlinear flexible structure using electrohydraulic servo actuators is developed. Our approach makes use of linear feedback of measured structural displacements plus linear feedback of the actuator control forces; a nonlinear feedforward function of the displacement command is also used for control. Based on a mathematical model of the closed loop, general conditions for closed loop stability are obtained. In the special case that the feedback is decentralized the stabilization conditions are stated in terms of simple inequalities; moreover, the stabilization conditions are robust to structural uncertainties since the conditions do not depend on explicit properties of the structure. Such robustness is a direct consequence of use of force feedback rather than, for example, acceleration feedback. Conditions are also developed for selection of the feedforward control to achieve zero steady state error; but this condition does depend on explicit properties of the structure. The theoretical results developed in the paper should provide a framework for advanced applications of control of mechanical systems using electrohydraulic servo-actuators.

Copyright © 1985 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In