Application of the Coefficient Diagram Method to the Robust Position Control of Slewing Flexible Structure

• Main Authors: Tung-Hsu Hsieh, 謝東旭
• Other Authors: Yiing-Yuh Lin
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/51871200066231768755

碩士 === 國立成功大學 === 航空太空工程學系 === 87 === Abstract Subject: Application of the Coefficient Diagram Method to the Robust Position Control of Slewing Flexible Structure Student: Tung-Hsu Hsieh Advisor:Yiing-Yuh Lin Because of its lightweight and low power consumption, flexible structures 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 positioning and attitude. In this research, we use a simple experimental system to simulate the attitude control of a satellite with flexible structure. We also add mass to the end of flexible structure to examine the robustness of the controller when system is changed. The position of the experimental system is controlled by a 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 is used to measure the vibration of the flexible beam. To derive the governing equations of the system, the Hamilton‘s principle was applied. In the controller designs, CDM (Coefficient Diagram Method), LQR, and I-PD are used. The simulation and experiment results are compared and the advantages and the disadvantages of different controllers applied in the system are discussed.