Research Papers

Wave-Based Modeling and Control of Flexible Structures

[+] Author and Article Information
Paul F. Curran

School of Electronic and Electrical Engineering,
University College,
Dublin 4, Ireland
e-mail: paul.curran@ucd.ie

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received September 28, 2017; final manuscript received October 15, 2018; published online November 22, 2018. Assoc. Editor: Yang Shi.

J. Dyn. Sys., Meas., Control 141(3), 031010 (Nov 22, 2018) (9 pages) Paper No: DS-17-1492; doi: 10.1115/1.4041754 History: Received September 28, 2017; Revised October 15, 2018

The relatively new concept of wave-based control is extended to general, finite-dimensional, linear, time-invariant systems, with or without damping. The new models offer an explanation for how systems of springs and masses although lumped, and therefore, technically having no delay appear to have delay nonetheless. The principal contribution is a fairly systematic, multi-input multi-output, multi-objective control design methodology. The method yields controllers which in general deliver good closed-loop tracking, good disturbance rejection, and good stability robustness in the face of parameter uncertainty. In particular, but not exclusively, the method is applicable to the control of flexible structures as demonstrated by several examples including mitigation of sloshing of liquid-fuel in a simplified model of an upper-stage Vega rocket.

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Fig. 1

Unit step response of G, G2, and G3

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Fig. 2

Unit step response of H, H3, and H5

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Fig. 3

Diagram of basic wave-based control scheme

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Fig. 4

Normalized unit impulse disturbance response

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Fig. 5

Normalized unit impulse disturbance response

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Fig. 6

Unit impulse disturbance response, w2

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Fig. 7

Pitch and Slosh response to 5 deg step reference input

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Fig. 8

Pitch and Slosh normalized response to unit impulse disturbance input



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