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检索条件"任意字段=Conference on Mathematics and Control in Smart Structures"

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Position control of a flexible gantry robot arm using smart actuators

Position control of a flexible gantry robot arm using smart ...

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SPIE conference on mathematics and control in smart structures

作者： Choi, SB Han, SS Cheong, CC Kim, JH Inha Univ Dept Engn Mech Smart Struct & Syst Lab Inchon 402751 South Korea

ISBN: (纸本)0819427675

This paper presents new feedback actuators to achieve an accurate position control of a flexible gantry robot arm. The translational motion in the plane is generated by two d.c. motors and controlled by employing electro-rheological(ER) clutch actuators. The generated motion can be continuously controlled by controlling the intensity of electric fields imposed to the ER fluid domains of bi-directional rotating ER clutches. On the other hand, during control action of the translational motion, a flexible arm attached to the moving part produces undesirable oscillations due to its inherent flexibility. The oscillations are actively suppressed by employing feedback voltage to the piezoceramic actuator bonded on the surface of the flexible arm. Consequently, an accurate position control at the end-point of the flexible arm can be achieved. In order to accomplish this control target, the governing equations of the proposed system are derived and rewritten as transfer functions to design a robust H-infinity controller. The control electric fields to be applied to the ER clutch and the control voltage for the piezoceramic actuator are determined via the loop shaping design procedures(LSDP) in the H-infinity control technique. control results are provided to evaluate the effectiveness of the proposed methodology.

关键词： flexible gantry robot arm ER clutch piezoceramic actuator LSDP H-infinity control

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control of a hysteretic actuator using inverse hysteresis compensation.

Control of a hysteretic actuator using inverse hysteresis co...

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SPIE conference on mathematics and control in smart structures

作者： Galinaitis, WS Rogers, RC Virginia Tech Dept Math Blacksburg VA 24061 USA

ISBN: (纸本)0819427675

The accurate control of a system that exhibits hysteresis requires a control strategy that incorporates some form of compensation for the hysteresis. One approach is to develop an accurate model P of the hysteresis and then use the inverse P-1 as a compensator (inverse compensation). This paper focuses on the problem of determining P and P-1 for a piezoelectric stack actuator. The KP operator (1) (2) is used to formulate the hysteresis operator P and from this an approximation P-m is derived. Compensation is then defined in terms of the inverse of the approximation, P-m(-1). Experimental data collected on an unloaded piezoelectric stack actuator is used to demonstrate the concept of inverse compensation. The parameters of P-m are identified using only major hysteresis loop data and results are given that show P-m provides an accurate model for both major and minor hysteresis loops. Results are then presented that demonstrate the capability of the inverse P-m(-1) to compensate for the actuator hysteresis.

关键词： hysteresis Preisach models inverse operators piezoelectric actuator

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Active control of blade vortex interaction noise on a helicopter blade element

Active control of blade vortex interaction noise on a helico...

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SPIE conference on mathematics and control in smart structures

作者： Ariyur, KB Krstic, M Univ Calif San Diego Dept Appl Mech & Engn Sci La Jolla CA 92093 USA

ISBN: (纸本)0819427675

Blade vortex interaction (BVI) noise has been recognized as the primary determinant of the helicopter's far field acoustic signature. Given the limitations of design in eliminating this dynamic phenomenon, there exists a need for control. In this paper, we present the application, first of feedback control strategies, and then of adaptive cancellation on Leishman and Hariharan's linear aerodynamic model of a trailing edge flap. Lift, fluctuations caused by vortices are taken as output disturbance. The contribution of the vortices to lift is obtained from Leishman's indicial model for gusts. The use of an active structure for actuation is assumed, and the actuator is approximated as a lag element. To design an adaptive cancellation scheme that is applicable not only to BVI but also to general problems with periodic disturbances, we start with the sensitivity method but arrive at the same scheme derived by Sacks, Bodson, and Khosla who introduced a phase advance into a pseudo-gradient scheme. We discuss stability of the scheme via averaging.

关键词： blade vortex interaction indicial models smart actuation feedback attenuation adaptive feedforward cancellation

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Simultaneous optimization of actuator position and control parameter for adaptive mechanical structures

Simultaneous optimization of actuator position and control p...

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SPIE conference on mathematics and control in smart structures

作者： Weber, CT Gabbert, U Enzmann, M Univ Magdeburg Innovationskolleg ADAMES D-39106 Magdeburg Germany

ISBN: (纸本)0819427675

The design of adaptive mechanical structures is divided into three parts: the structural design, the controller design and the placement of actuators and sensors. The objective of the design is to create a mechanical structure, which corresponds with the physical and technical requirements. The controller design includes the definition of the optimal controller law and the parameters required to create an actuator adjustment from the perceptible signals of the structural answer. The placement of the actuators and of the sensors give an answer to the question about the optimal distribution of the actuators and sensors in the structure. The sensor placement determines which signals are available to the automatic controller. The position of the actuators in the mechanical structure determines at which points control forces may act to influence the structural behaviour in a suitable manner. The determination of the optimal position of the actuators requires information about the controller design, the sensor position and the layout and the behaviour of the structure. Based on the ideas of the shape optimization and topology optimization, a procedure will be presented, to handle simultaneously the discrete positions of the actuators and the continuous parameters of the controller. The method is based on an augmented Lagrangian function to include additional conditions and the discontinuity of the discrete variables into the objective function. The method will be demonstrated by an test example.

关键词： adaptive systems optimization optimal placement optimal controller

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Selective modal control of composite piezolaminated anisotropic shells

Selective modal control of composite piezolaminated anisotro...

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SPIE conference on mathematics and control in smart structures

作者： Miller, SE Oshman, Y Abramovich, H Hughes Space & Commun El Segundo CA 90245 USA

ISBN: (纸本)0819427675

A general Selective Modal control (SMC) design methodology is presented for piezolaminated anisotropic shell systems which utilizes Selective Modal Transducers (SMT's) recently developed by the authors for piezo-shells in order to realize any number of possible modal control strategies. An SMC design procedure is specified which defines a step-by-step framework through which structural and control sub-design processes are effectively integrated, Several conditions which sufficiently ensure asymptotic stability are derived and then discussed in the context of deriving SMC methods which are stability robust to modeling and implementation errors. Several SMC examples are then given in which SMT's are designed and control laws chosen so as to allow for (1) the contributions of any given mode to the active energy extraction rate to be directly specified, (2) pole locations to be selectively and dynamically varied, or else (3) both pole locations and SMT design constants to be optimally determined. A numerical example is presented in which a stability-robust optimal SMC method is developed for a cantilevered anisotropic cylindrical shell panel. Maintaining a linear feedback law, a single self-sensing SMT is employed whose design parameters were chosen so as to optimize the system response to a given initial excitation. Frequency and transient response analyses show a dramatic enhancement in system performance and accurately concur with theoretical predictions. The example serves both to illustrate the design process and to independently validate SMT and SMC theoretical results as applied to shell systems characterized by aero-Gaussian curvature.

关键词： smart structures modal control modal transducers PVDF composites shells

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Vibration suppression of a skew cantilever plate using PZT patches

Vibration suppression of a skew cantilever plate using PZT p...

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SPIE conference on mathematics and control in smart structures

作者： Pai, PF Rommel, B Naser, AS Schulz, MJ Univ Missouri Dept Mech & Aerosp Engn Columbia MO 65211 USA

ISBN: (纸本)0819427675

We investigate the control of steady-state vibrations of a cantilevered skew isotropic plate by using nonlinear saturation phenomena and PZT (lead zirconate titanate) patches as sensors and actuators. Modal testing and finite-element analysis are performed to study the bending-torsional dynamic characteristics due to the non-rectangular plate geometry. The control method uses linear second-order controllers coupled to the plate via quadratic terms to establish energy bridges between the plate and controllers. Each linear second-order controller is designed to have a 1:2 internal resonance with one of the plate vibration modes and hence is able to exchange energy with the plate at or around the specific modal frequency. Because of quadratic nonlinearities and 1:2 internal resonances, saturation phenomena exist and are used to suppress modal vibrations. To test this control technique in an efficient and systematic way, we built a digital control system that consists of SIMULINK modeling software and a dSPACE DS1102 controller in a pentium computer. Both numerical and experimental results show that this nonlinear control method is robust in suppression steady-state resonant vibrations without significant spill-over effects.

关键词： PZT actuator/sensor nonlinear controller skew plate active control

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Incorporating finite element techniques to simplify the impedance modeling of active structures

Incorporating finite element techniques to simplify the impe...

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SPIE conference on mathematics and control in smart structures

作者： Fairweather, JA Craig, KC Rensselaer Polytech Inst Dept Mech Engn Aeronaut Engn & Mech Troy NY 12180 USA

ISBN: (纸本)0819427675

An impedance model(2) is formulated for the prediction of the response of structures to induced-strain actuation. The approach utilizes finite element analysis (FEA) to determine the host-structure mechanical impedance. The method couples this numerically obtained impedance to an analytical vibration solution of the induced-strain actuator to determine the dynamic response of the active structure. The methodology is demonstrated in the computation of the dynamic response of a beam structure to induced-strain actuation. This system has been extensively explored by the active structures community. Comparisons of the predicted dynamic response of this structure are made to the predictions of models previously documented in the literature. Experiments are conducted for the purpose of model validation, and an excellent agreement is demonstrated between die predictions of the FEA-based based impedance model and measurements made on physical systems. It is anticipated that the formulation extends the FEA-based impedance modeling approach to a broader class of active structures, those for which closed-form expressions of host-structure mechanical impedance are non-existent Use of the FEA-based impedance approach is suggested when modeling generic distributed structures possessing material anisotropy. mass loading, and non-uniform boundary conditions.

关键词： mechanical impedance active structure modeling beams plates finite elements

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Aeroservoelastic design with distributed actuation for high performance aircraft

Aeroservoelastic design with distributed actuation for high ...

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SPIE conference on mathematics and control in smart structures

作者： Oz, H Ohio State Univ Columbus OH 43210 USA

ISBN: (纸本)0819427675

A new aeroelastic modal formulation in terms of real modal matrices and modal-state variables is introduced. Real biorthonormality relationships for aeroelastic modes are given with respect to structural matrices. The solution for distributed-parameter-control of an aeroelastic system is developed by modal synthesis from modal-state-space control inputs. in particular, the globally power optimal Independent Modal-Space control (IMSC) technique is used for maneuver (set-point) control of an aeroelastic system by a modal-performance-output synthesis approach. control power functionals for an aeroelastic system are defined for any actuation profile and control design. The known solution for the synthesized distributed-parameter closed-loop aeroelastic system is optimally approximated via a gain distribution error minimization technique integrating the transient and power performance characteristics of the system for implementation by distributed, spatially-discrete actuation profiles. For the same purpose, a Galerkin approximation is also given. The method is illustrated for a lifting surface simulating a wing to twist the win:: tip to a prescribed angle of attack by using different distributed actuation profiles. Various warped wing shapes can be affected by the approach by synthesizing through different selections of aeroelastic modes for control design resulting in different control power requirements.

关键词： aeroelasticity aeroservoelasticity IMSC modal control distributed-parameter-control control power optimal gain approximation wing shaping distributed actuation control non-self-adjoint system control

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Radiated noise control via structural vibration control

Radiated noise control via structural vibration control

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SPIE conference on mathematics and control in smart structures

作者： Varadan, VV Gopinathan, SV Lim, YH Varadan, VK Penn State Univ Res Ctr Engn Elect & Acoust Mat University Pk PA 16802 USA

ISBN: (纸本)0819427675

Interior noise control in a cabin enclosure using active vibration control of the walls of the enclosure with discrete piezoelectric actuators and sensors is addressed. A hybrid approach using finite element formulation for the radiating walls of the enclosure. We use an exact 3D formulation without making the usual approximations for the electric field in the piezoelectric devices. The electrical boundary conditions and the charge on the electrodes are treated correctly Computational time is optimized by using plate elements for the structure and 3D element for the devices with transition elements to connect them. A PD-controller is used to relate the voltage output of the sensor in open circuit conditions to the charge input to the actuator via appropriate gains to control vibrations. The acoustic part of the problem is modeled via a modal approach The modal representation of the pressure is used as a mechanical force term on the structure which can be written in terms of a virtual mass. The driving term for the acoustic field is in turn the displacements on the surface of the radiating walls which is computed from the structural equations. This accounts for the acoustic field-structure interaction and the equations are solved simultaneously. By adjusting the feedback gain, significant noise reduction is achieved globally within the cavity for the dominant vibrational modes of the radiating panel.

关键词： Sensors Actuators Acoustics Vibration control Chemical elements Feedback control Electrodes Active vibration control Gadolinium Transition metals

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Computational modeling and parametric study of a rotary actuator driven by piezoelectric composites

Computational modeling and parametric study of a rotary actu...

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SPIE conference on mathematics and control in smart structures

作者： Li, HL Lee, SWR Hong Kong Univ Sci & Technol Dept Mech Engn Kowloon Hong Kong

ISBN: (纸本)0819427675

An innovative actuation principle was introduced in a previous study to drive a rotary actuator by piezoelectric composite laminate. The driving element is a three layer laminated beam with piezoceramics sandwiched between two antisymmetric composite laminae. By taking advantage of the structural coupling a rotary actuator similar to ultrasonic motors can be implemented A prototype of the mentioned actuator has been fabricated The objective of this study is to model this device by finite element method A commercial finite element code, ANSYS, was employed to simulate the rotary actuator. The piezoelectric laminate and the rotor were modeled by solid brick elements and special constraint element was used to account for the contact between two separate bodies. Static and transient dynamic analyses were conducted to simulate the deformation and the angular motion of the rotary actuator, respectively. Parametric study was performed by modal and harmonic analyses to investigate the dynamic response of the driving laminate. The results of this study confirmed the proposed actuation principle and the developed computational model may be used for the optimization of future design.

关键词： smart materials piezoelectric ceramics composite laminate rotary actuator ultrasonic motor

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