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SEREP Integrated Control of Flexible Structures

, Hiren Patel, Rahul Kumar
Published in Elsevier
2020
Volume: 53
   
Issue: 1
Pages: 51 - 56
Abstract
Flexible structures are continuum modeled as infinite degrees of freedom. Most of the time finite element models are made with large number of degrees-of-freedom to analyse flexible structures. Continuous monitoring, analysis and control of dynamics of flexible structures need simulation of large degrees of freedom in real time. This is computationally expensive and realtime control fails. This study focuses on the development of a reduced order framework for dynamics of flexible structures and use the reduced order model for controlling the structure. Essentially, in the proposed framework, full order state space obtained from finite element modeling of the flexible structure has been reduced to lower subspace using a reduced order algorithm keeping the dynamical characteristic intact. The transformation matrix for reduction has been calculated using system equivalent reduction expansion process (SEREP). Traditionally, full order dynamical system is being used to find the gain matrix to suppress the uncontrolled dynamics associated with the dynamical system. Here in this methodology, the reduced dimension of state space of the system is used for estimating the gain matrix using optimal linear quadratic regulator (LQR). The gain obtained through the reduced system is subsequently used as a feedback to the attached actuators which produce the required force to control the system. A numerical example of a flexible cantilever beam has been shown to investigate the effectiveness of the algorithm. © 2020, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
About the journal
JournalData powered by TypesetIFAC-PapersOnLine
PublisherData powered by TypesetElsevier
ISSN1474-6670
Open AccessYes