TY - JOUR
T1 - Rapid slewing and pointing of a flexible structure with embedded piezoceramics
AU - Khorrami, Farshad
AU - Zeinoun, Issam J.
N1 - Funding Information:
The authors are grateful to several other students at CRRL, namely Mr. S. Jain, Mr. J. Fried, and Mr. M. Hills (from University of California at Berkeley), who have have been instrumental in developing portions of the hardware and software utilized in this work.
Funding Information:
'Supported under NSF grant EID-9200-139 for Summer Research Experience for Undergraduates.
Publisher Copyright:
© 1993 SPIE. All rights reserved.
PY - 1993/9/8
Y1 - 1993/9/8
N2 - Active control of flexible multi-body systems and structures through utilization of smart materials is considered in this paper. Specifically, utilization of piezoceramics for sensing and actuation is investigated. Experimental setups have been developed at Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible structures with embedded (or surface-mounted) piezoceramics. In this paper, experimental results on vibration suppression for a clamped-free beam and a rotating flexible beam with surface mounted piezoceramics are presented. We compare and contrast the analytical modeling and control design with the experimental results. It will be shown that piezoceramics substantially improve the performance of the systems under consideration. The advocated approaches for control designs are decentralized frequency shaping and self-tuning adaptive controllers. The self-tuning controller is based on identification of the system dynamics in frequency domain utilizing Fast Fourier Transform (FFT). The realtime computing power to evaluate FFTs is provided by digital signal processing boards (TMS320C30 based). Addition of a self-tuning regulator enhances the performance and the robustness of the controlled system to parameter variations.
AB - Active control of flexible multi-body systems and structures through utilization of smart materials is considered in this paper. Specifically, utilization of piezoceramics for sensing and actuation is investigated. Experimental setups have been developed at Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible structures with embedded (or surface-mounted) piezoceramics. In this paper, experimental results on vibration suppression for a clamped-free beam and a rotating flexible beam with surface mounted piezoceramics are presented. We compare and contrast the analytical modeling and control design with the experimental results. It will be shown that piezoceramics substantially improve the performance of the systems under consideration. The advocated approaches for control designs are decentralized frequency shaping and self-tuning adaptive controllers. The self-tuning controller is based on identification of the system dynamics in frequency domain utilizing Fast Fourier Transform (FFT). The realtime computing power to evaluate FFTs is provided by digital signal processing boards (TMS320C30 based). Addition of a self-tuning regulator enhances the performance and the robustness of the controlled system to parameter variations.
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U2 - 10.1117/12.152771
DO - 10.1117/12.152771
M3 - Conference article
AN - SCOPUS:0342756309
SN - 0277-786X
VL - 1917
SP - 25
EP - 36
JO - Proceedings of SPIE - The International Society for Optical Engineering
JF - Proceedings of SPIE - The International Society for Optical Engineering
T2 - Smart Structures and Materials 1993: Smart Structures and Intelligent Systems
Y2 - 1 February 1993 through 4 February 1993
ER -