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Research Papers

Synthesis and Control of Flexible Systems With Component-Level Uncertainties

[+] Author and Article Information
Peiman G. Maghami1

Attitude Control Systems Engineering Branch, NASA Goddard Space Flight Center, Greenbelt, MD 20771peiman.maghami@nasa.gov

Kyong B. Lim

Guidance and Control Branch, NASA Langley Research Center, Hampton, VA 23681

1

Corresponding author.

J. Dyn. Sys., Meas., Control 131(5), 051005 (Aug 17, 2009) (9 pages) doi:10.1115/1.3155010 History: Received January 30, 2008; Revised March 31, 2009; Published August 17, 2009

An efficient and computationally robust method for synthesis of component dynamics is developed. The method defines the interface forces/moments as feasible vectors in transformed coordinates to ensure that connectivity requirements of the combined structure are met. The synthesized system is then defined in a transformed set of feasible coordinates. The simplicity of form is exploited to effectively deal with modeling parametric and nonparametric uncertainties at the substructure level. Uncertainty models of reasonable size and complexity are synthesized for the combined structure from those in the substructure models. In particular, we address frequency and damping uncertainties at the component level. The approach first considers the robustness of synthesized flexible systems. It is then extended to deal with nonsynthesized dynamic models with component-level uncertainties by projecting uncertainties to the system level. A numerical example is given to demonstrate the feasibility of the proposed approach.

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Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Synthesized substructures

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Figure 2

Block diagram of the combined system

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Figure 3

Block diagram of the synthesized system

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Figure 4

Components of the free-free problem

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Figure 5

Bode plot for the H∞ controller for component No. 1

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Figure 6

Robust stability μ plot for the synthesized system

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Figure 7

Robust stability μ plot for the truth system

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