Experimental Verification of Real-Time Control for Flexible Systems With On-Off Actuators

[+] Author and Article Information
William Singhose, Erika Biediger

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA

Hideto Okada

 NEC Toshiba Space Systems, Ltd., Yokohama, Japan

Saburo Matunaga

Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan

J. Dyn. Sys., Meas., Control 128(2), 287-296 (Jul 19, 2005) (10 pages) doi:10.1115/1.2192837 History: Received November 25, 2004; Revised July 19, 2005

A technique for driving a flexible system with on-off actuators is presented and experimentally verified. The control system is designed to move the rigid body of a structure a desired distance without causing residual vibration in the flexible modes. The on-off control actions are described by closed-form functions of the system’s natural frequency, damping ratio, actuator force-to-mass ratio, and the desired move distance. Given the closed-form equations, the control sequence can be determined in real time without the need for numerical optimization. Performance measures of the proposed controller such as speed of response, actuator effort, peak transient deflection, and robustness to modeling errors are examined. Experiments performed on a flexible satellite testbed verify the utility of the proposed method.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Response of benchmark flexible system

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Figure 2

Command profiles used to produce the responses in Fig. 1

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Figure 3

Sketch of proposed command profiles

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Figure 4

Input shaping to generate a zero-to-positive transition

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Figure 5

Vibration cancelation with a sequence of positive and negative impulses

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Figure 6

Sensitivity curves for the ZV-FE and ZVD-FE transitions

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Figure 7

Sensitivity curves as a function of damping ratio. (a) ZV Transitions and (b) ZVD transitions.

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Figure 8

On-off command transitions

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Figure 9

Response of damped system to undamped commands

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Figure 10

Move duration for closed-form fuel efficient and time optimal commands

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Figure 12

Transient deflection from various commands

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Figure 13

Maximum transient deflection

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Figure 14

Sensitivity curves for commands producing a ten unit move

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Figure 15

10% Insensitivity versus move distance

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Figure 16

Two-dimensional spacecraft dynamics simulator

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Figure 17

Schematic diagram of a DISC unit

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Figure 18

Appendage deflection for a rotational motion

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Figure 19

Vibration amplitude versus appendage frequency

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Figure 20

Residual vibration amplitude versus slew distance

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Figure 21

Maximum transient deflection versus slew distance




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