Experimental Determination of the Effects of Blending Collocated and Non-Collocated Sensor Measurements to Control a Flexible Structure

摘要

An experimental investigation was performed controlling a cantilevered beam inbending using proportional feedback on a blend of collocated and non-collocated sensor measurements using a single actuator. Exact transfer functions between the control input and the measurements were developed and compared to the finite element method. By analyzing the open loop pole-zero locations as a function of the measurement blending, insight into the closed loop behavior is obtained. Minimum phase behavior can be maintained for a range of the blending ratio. Results using blended control were compared to both proportional collocated feedback and compensated collocated feedback using LQG methods. The comparison was then extended to a theoretical investigation using the blended measurements on a free-free torsional model analogous to a gimbal. Advantages and limitations of using blended measurements are presented.