Hierarchic Control Architecture for Intelligent Structures

A new hierarchic control architecture is presented for flexible structures with widely distributed actuators and sensors. The control arrangement is a two-level combination of a centralized global controller and a set of distributed residual controllers. The global controller governs the overall motion of the structure using a reduced-order model of the finite element system. The residual controllers aggregate and pass information up to the global controller. The residual controllers also regulate the local deviations between the system and estimates obtained from the global model. A method for calculating the global and residual models and their associated controllers is developed. The coupling between these two structural models is also discussed, and some techniques for minimizing its effects are given. Finally, a simple example demonstrating the advantages of this design approach is presented. AgAr C e Fr) K M mi n

[1]  Edward F. Crawley,et al.  Use of piezo-ceramics as distributed actuators in large space structures , 1985 .

[2]  Leonard Meirovitch,et al.  Computational Methods in Structural Dynamics , 1980 .

[3]  B. Irons.  Structural eigenvalue problems - elimination of unwanted variables , 1965 .

[4]  D. Bernstein,et al.  The optimal projection equations for reduced-order, discrete-time modelling, estimation and control , 1985, 1985 24th IEEE Conference on Decision and Control.

[5]  Leonard Meirovitch.  Control of Distributed Structures , 1988 .

[6]  Satya N. Atluri,et al.  Large Space Structures: Dynamics and Control , 1988 .

[7]  B. F. Doolin,et al.  Large scale dynamic systems , 1975 .

[8]  Jonathan P. How,et al.  Local control design methodologies for a hierarchic control architecture , 1991 .

[9]  M. Athans,et al.  On the determination of the optimal constant output feedback gains for linear multivariable systems , 1970 .

[10]  S. M. Joshi,et al.  Robustness properties of collocated controllers for flexible spacecraft , 1986 .

[11]  A. Jazwinski.  Stochastic Processes and Filtering Theory , 1970 .

[12]  Robert E. Skelton,et al.  Order reduction for models of space structures using modal cost analysis , 1982 .

[13]  B. Irons,et al.  Inadequacy of nodal connections in a stiffness solution for plate bending , 1965 .

[14]  Yeung Yam,et al.  Flexible system model reduction and control system design based upon actuator and sensor influence functions , 1987 .

[15]  Michael Athans,et al.  On the periodic coordination of linear stochastic systems , 1975, Autom..

[16]  Helen A. Ryaciotaki-Boussalls,et al.  A Decentralized Approach to Vibration Suppression in Segmented Reflector Telescopes , 1989, 1989 American Control Conference.

[17]  Masao Ikeda,et al.  Decentralized control of large scale systems , 1989 .

[18]  Melvin S. Anderson,et al.  Continuum Models for Beam- and Platelike Lattice Structures , 1978 .

[19]  Madan G. Singh,et al.  Comparisons of practical hierarchical control methods for interconnected dynamical systems , 1975, Autom..

[20]  Michael Athans,et al.  Survey of decentralized control methods for large scale systems , 1978 .

[21]  John S. Archer,et al.  Consistent mass Matrix for Distributed Mass Systems , 1963 .

[22]  Umit Ozguner,et al.  Local LQG/LTR controller design for decentralized systems , 1987 .

[23]  M. Balas,et al.  Feedback control of flexible systems , 1978 .

[24]  R. McKinney,et al.  DETERMINATION OF THE , 2008 .

[25]  G. West-Vukovich,et al.  The decentralized control of large flexible space structures , 1981, 1981 20th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[26]  Leslie Eric Cross,et al.  Piezoelectric and electrostrictive sensors and actuators for adaptive structures and smart materials , 1989 .

[27]  E. Davison,et al.  On the stabilization of decentralized control systems , 1973 .

[28]  B. Das,et al.  Stabilizing Hierarchical Compensation for Locally Controlled Large Flexible Structures , 1989, 1989 American Control Conference.

[29]  Larry Silverberg.  Uniform damping control of spacecraft , 1986 .

[30]  Roy R. Craig,et al.  Block-Krylov component synthesis method for structural model reduction , 1988 .

[31]  A. Michel,et al.  Input-output stability of interconnected systems , 1976 .

[32]  Roy R. Craig,et al.  Model reduction and control of flexible structures using Krylov subspaces , 1989 .

[33]  Dennis S. Bernstein.  Sequential Design of Decentralized Dynamic Compensators using the Optimal Projection Equations: An Illustrative Example Involving Interconnected Flexible Beams , 1987 .

[34]  R. Guyan.  Reduction of stiffness and mass matrices , 1965 .

[35]  M. Mesarovic,et al.  Two coordination principles and their application in large scale systems control , 1970 .

[36]  D. Bernstein,et al.  The optimal projection equations for reduced-order, discrete-time modeling, estimation, and control , 1986 .

[37]  S. Poh,et al.  Modified Independent Modal Space Control Method for Active Control of Flexible Systems , 1989 .

[38]  R. Kosut.  Suboptimal control of linear time-invariant systems subject to control structure constraints , 1970 .

[39]  D. Siljak,et al.  Generalized decompositions of dynamic systems and vector Lyapunov functions , 1981 .

[40]  Mark J. Balas,et al.  Trends in large space structure control theory: Fondest hopes, wildest dreams , 1982 .

[41]  J. Aubrun.  Theory of the control of structures by low authority controllers , 1978 .