Advances in Modeling and Control of Flexible Mechanical Systems
June 12, 2006 — June 16, 2006
Coordinator:
- Wodek Gawronski (California Institute of Techn., Pasadena, Cal., USA)
Accurate and fast control of flexible systems is a requirement in many engineering applications, which includes robotic manipulators, spacecraft and space structures, large telescopes and antennas, high speed rotors, or hard disc drives. The purpose of this course is to present the recent approaches to modeling and control of high performance flexible mechanical systems. We shall discuss modeling techniques and control methods specifically developed for this class of problems along with more general modeling and control techniques, which have been adapted for flexible system purposes.
The modeling part of the lectures will include methods that help to achieve the precise and fast pointing goal. It will describe analytical tools, such as finite element analysis or state space modal analysis, and system identification methods – where test data are used. The structural modeling includes also actuator and sensor models, actuator and sensor placement using spatial compensation and system norms (to shape the closed-loop performance), and distributed filters. Also, modeling of sound radiation and transmission from flexible structures, and modeling of rotating systems, and the gyroscopic effect are included. Finally, the modeling part of the lectures includes model reduction methods that allow for determination a low-order model with small modeling error.
The control part of the lectures describes high bandwidth control systems, with flexible modes within the bandwidth. Consequently, rigid body models are not adequate in the control system design. It will describe the design and analysis of the adaptive structures, structural acoustic radiation, control of rotating machinery, issues in the precision control of hard disc drives, precision tracking for large telescopes and antennas, active control of noise, sound transmission and radiation from flexible structures, and active vibration isolation. The lectures will include control techniques using Integral Force Feedback, passivity-based techniques, LQG, and H∞ algorithms.
The course lecturers are experienced representatives of the academia and industry thus the course will be a balanced mixture of analysis and its applications.
The course is addressed to researchers, engineers, and professionals interested in system dynamics, control system design and analysis, robotics, electronic hardware design, structural control, and control of aerospace systems.