Disturbance Accommodating Based Flexible System Control
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Flexible systems in aerospace many times experience the negative effects of elastic structural modes within their control systems. Most control systems are based on rigid body models. Adverse effects occur when the slower or primary structural modes are within the control system bandwidth. Many times this condition results in uncontrolled oscillations. Flexible system control is based on estimation and then attenuation of the disturbances. Although this may be an effective approach it does not take advantage of the disturbance energy available to reduce the amount of control effort. In certain aerospace systems it is advantageous to utilize disturbance energy, if possible, to reduce control energy usage. One approach is based on Disturbance Accommodating Control (DAC) and is called Disturbance Utilization Control (DUC) 123 . DUC employs optimal control theory to design controllers that make optimal utilization of disturbances. DAC/DUC approaches utilize linear models of the plant and disturbance. Optimal statespace control methods, such as LQR or H-Infinity are used to generate a control system utilizing the disturbance state estimations along with the plant state estimates. Generally, the fixed system model is known and may be used in an observer design to estimate the disturbance. Effective disturbance estimation in the usage of DAC theory requires an input and an output signal based on the input/output model used. An observer system is designed for estimation. The paper will develop the general concepts of DAC/DUC and show an application to flexible disturbance accommodation/utilization.
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