INDEPENDENT MODAL SPACE CONTROL OF A CANTILEVER BEAM UTILIZING STATE FEEDBACK

摘要

Modal space active control of a one meter cantilever beam is investigated. This experimental system has 22 piezoelectric accelerometers laterally mounted on a cantilever beam with two, 2 lb{sub}f shakers attached. Reciprocal Modal Filter Vectors are computed from the experimental data. These vectors, along with the pole estimates from this test, are used in an Independent Modal Space Controller (IMSC) framework. The filter vectors map the system's response to Modal Space. In this domain, the control problem is reduced to several parallel, uncoupled single degree of freedom (SDOF) second order systems. A low order, rate feedback regulator is implemented to ass damping to the system poles (modes). A modified Luenberger Estimator is used in conjunction with this controller. The estimator is designed explicitly to estimate modal velocity from acceleration measurements. This implementation simplifies the controller design and model order estimation, which is a significant problem with adaptive schemes such as Self Tuning Regulators. Implementation issues such as control spillover and filter fidelity are discussed.