Study of Unmodel Method and Coefficient Diagram Method Via Position Control of Flexible Structure

• Main Authors: Chiao, David, 邱文賜
• Other Authors: Yiing-Yuh Lin
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/90595350789596961963

碩士 === 國立成功大學 === 航空太空工程學系 === 86 === Because of its light weight and low power consumption, flexiblestructures are widely used in aerospace and mechanical systems, such as solar panels, antennas of earth satellite and robot arms. However,the vibration of flexible structure may degrade the accuracy of posi-tioning and attitude. Therefore, it is worthy to study how to the atti-tude and position of flexible structures under the effect of vibrationare being controlled.In this research, we use a simple experimental system to simulate the attitude control of a satellite with flexiblestructure. The position of the experimental system is controlled bya momentum wheel driven by a stepping motor while utilizing the law of angular momentum conversation. The experimental set-up includes a potential meter is used to measure the angular motion of the rotator angle. A strain gauge and a piezoelectric plate are used to measure and to suppress the vibration of the flexible beam.To derive the governing equations of the system, the Hamilton*s principle was applied.In the controller designs , LQR, CDM (Coefficient Diagram Method), and unmodel sampling method(Data-Based Controller Synthesis) are used. The simulation and experiment results are compared and the advantages and the disadvantages of different controllers applied in the system arediscussed.