Dynamic modeling and vibration suppression of a slewing active structure utilizing piezoelectric sensors and actuators

Keith K. Denoyer; Moon K. Kwak

doi:10.1117/12.152818

8 September 1993 Dynamic modeling and vibration suppression of a slewing active structure utilizing piezoelectric sensors and actuators

Keith K. Denoyer, Moon K. Kwak

Author Affiliations +

Proceedings Volume 1917, Smart Structures and Materials 1993: Smart Structures and Intelligent Systems; (1993) https://doi.org/10.1117/12.152818
Event: 1993 North American Conference on Smart Structures and Materials, 1993, Albuquerque, NM, United States

Abstract

This paper presents preliminary modelling and vibration suppression experiment results for the USAF Phillips Laboratory's Planar Articulating Controls Experiment (PACE) test bed. PACE is a two link flexible multibody experiment constrained to move over the surface of a large granite table. In this paper, an approximate analytical dynamic model of a single slewing flexible body with surface bonded piezoelectric sensors and actuators is developed using Hamilton's Principle with discretization by the assumed modes method. After conversion to modal coordinates, damping is added to the model by including experimental damping measurements. The model is then converted to state-space form for the purpose of control design. The model is verified by comparison of simulated and experimental open loop frequency response data. Both decentralized and centralized controllers are designed for vibration suppression of a single arm of the PACE test bed. The controllers presented in this paper include: a positive position feedback (PPF) controller for controlling the first mode of vibration, a decentralized controller which uses three independent PPF filters for suppressing the first three modes of vibration, and a multiple-input, multiple-output linear quadratic gaussian design. The experiments include both analog and digital implementations of these controllers.

Citation Download Citation

Keith K. Denoyer and Moon K. Kwak "Dynamic modeling and vibration suppression of a slewing active structure utilizing piezoelectric sensors and actuators", Proc. SPIE 1917, Smart Structures and Materials 1993: Smart Structures and Intelligent Systems, (8 September 1993); https://doi.org/10.1117/12.152818

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