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Research Papers

An Adjustable Model Reference Adaptive Control for a Time Delay System

[+] Author and Article Information
A. M. Khoshnood

Department of Aerospace Engineering,
Center of Excellence for Design and Simulation
of Space Systems,
K. N. Toosi University of Technology,
P.O. Box 16765-3381,
Tehran, Iran
e-mail: khoshnood@kntu.ac.ir

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 10, 2013; final manuscript received February 27, 2014; published online May 28, 2014. Assoc. Editor: John B. Ferris.

J. Dyn. Sys., Meas., Control 136(5), 051007 (May 28, 2014) (7 pages) Paper No: DS-13-1156; doi: 10.1115/1.4027165 History: Received April 10, 2013; Revised February 27, 2014

Current developments in signal processing tools for hardware and software applications have led to employment of these approaches for vibration control in flexible structures. The main challenge of this method is the delay directly generated from the processing in the closed-loop of the vibration control system. This delay causes considerable degradation of the stability of the dynamic system. This study uses the Smith predictor (SP) of common time delay systems to propose an adjustable model reference, where the delay generated from the signal processing block is compensated for vibration control. The vibration control system based on signal processing is applied on a flexible launch vehicle in which the bending vibration modes are modeled as undesirable sinusoidal signals. The results of a numerical simulation of a linear model of the vehicle with the adjustable model reference adaptive system show that the delay in the closed-loop control system is adequately compensated. This approach allows the use of the signal processing tools for vibration analysis and control without substantial delay.

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References

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Figures

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Fig. 1

Rigid and flexible body coordinates

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Fig. 2

Block diagram of preliminary control system with signal processing unit

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Fig. 3

Block diagram of a discrete cosine transform (DCT) filter bank

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Fig. 4

Structure of SP method for a system with delay

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Fig. 5

Block diagram of the adjustable model reference adaptive system with SP in the yaw and pitch channels

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Fig. 6

Parameters of the yaw channel estimated using the recursive least square

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Fig. 7

Performance of the estimated yaw angle and actual pitch angle of the vehicle

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Fig. 8

Performance comparison of the new vibration control system with and without adjustable model reference SP controller

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Fig. 9

Reduction of the actuator oscillations using the new vibration control system

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Fig. 10

The first generalized coordinate of the vehicle bending vibration mode in the pitch channel with and without the adjustable model reference SP controller

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Fig. 11

The second generalized coordinate of the vehicle bending vibration mode in the pitch channel with and without the adjustable model reference SP controller

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Fig. 12

Performance comparison between the SP vibration controller and adaptive notch filter for the system with one dominant vibration modes

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Fig. 13

Performance comparison between the SP vibration controller and adaptive notch filter for the system with two dominant vibration modes

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Fig. 14

Nyquist diagram of the closed-loop vibration control system with 10% and 15% change in the delay generated from the vibration control process

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Fig. 15

Nyquist diagram of the closed-loop vibration control of the system with 25% and 50% change in the nominal gain of the closed-loop controller

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