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(NASA-CR-I92993) THE

CQNTROLLEO STRUCTURES

SYMPOSIUM (MIT) 251

3RD ANNUAL

TECHNOLOGY

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N93-28107

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MIT

spaceEngineeringP_earchCenter

Controlled Structures TechnologyM.I.T. Space Engineering Research Center

3rd Annual Symposium

July 1, 1991 - 8:00 am to 5:00 pm

Location: Building 9. Rm. 150Massachusetts Institute of Technology

Cambridge, MA 02139

Registration

Welcome and Introduction

Optical Interferometer Testbed -

Active Impedance Matching of ComplexStructural Systems

Break

Narrow and Broad Band Isolation for _ ....Uncertain Dynamic Systems

Application of CST to Adaptive Optics

Middeck 0-G Dynamics Experiment (MODE)

Lunch

LABORATORY TOUR (MEET IN 37-372)

Shaping System Commands to ReduceResidual Vibration

Middeck Active Control Experiment (MACE)

Break

Robust Control for Uncertain Structures

Cost Averaging Techniques for RobustStructural Control

Intelligent Structures Technology

Conclusion

E. Crawley

G. Blackwood '-/

D. MacMartin 4

A. von Flotow O_,_

E. Anderson - :'

M. van Schoor-_

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W. Seering /t, ..,' 2,_. =_2'_'

D. Miller - "

M. Athans -

N, Hagood -

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A Space-Based Interferometer

• used for astrometry:

- measure baseline and delay lines using

metrology system

• used for imaging

- measure intensity (mag) and phase (via

delay line distance) of central fringe of

interference pattern

- vary baseline and rotate siderostats aboutLOS to target star by rigid body motion

- reconstruct image from 2-D spatial IFT ofthe measured intensity

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ACTIVE VIBRATION ISOLATION

_/ SOURCE

DESTINATION

• NOISY SOURCES, SENSITIVE DESTINATIONS

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OPPORTUNITIES FOR ACTIVE CONTROL

CURRENT WORK / FORECAST

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Noisy Machine

Flexible structure

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Noisy Space Station

Sensitive Instrument

Common Features:

• The mount represents a "bottle neck" in

the disturbance path.

• Structural Response is poorly known.

DYNAMIC MACHINERY ISOLATION

_ount

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disturbance frequencies

EXAMPI F: Naval Machinery Raft

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RESPONSE FREQUENCIES:

Machine:

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few axes, perhaps

OVERVIEW OF ACTIVE APPROACHES FORMACHINERY ISOLATION

Broadband / Semi-passiveNarrowband

ACTUATOR OPTIONS

GEOMETRY ACTUATOR REQUIREMENTS

ACTUATOR D,I THE LOAD PATH:

machine

vehicle

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ACTUATOR PAR.AIJ ]=:L TO THE LQAD PATH

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vehicle suspensions)

Figure la The Semi-Active l--t.,,'drau',ic Mo_'_:

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Figure l b installation of a Hyc_auh¢ ?'doun[

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VIBRATION ISOLATION MOUNTING OF A

HELICOPTER FLOOR

NA RROWBAN D/ACTIVE

Basic principle"

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destabilizing

Provide compensator gain only

disturbance frequency. Avoid

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DISTURBANCE

SPECTRUM

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CLASSIFICATION OF APPLICATIONS ANDACCOMPLISHMENTS

Generic

Important

Responses

Adapta_

Disturbance (_ctuators f Phvsical _ Sensors

NARROWBAND/ACTIVE CONTROL SYNTHESIS TECHNIQUES

Adaotive Sianal Processing"

t ach._._..£o

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sensor I

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FUSELAGE

GUIDE LINKS

CONTROL SYSTEM ISOLATO_

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NARROWBAND/ACTIVE

E_IGINE,,,=o^_,,_,_ $11_OTHERVIBRATION,O;"_"_" _wI_STATIC AND DYNAMIC

ACTUATOR f"_,_FORCES

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the entreeriIwllyali_wL Any vibrm'lon _om oth_ pa_ ofthe _ructure which my be _m_srnitted ouz the seating to themount (ia, the ncvers¢ dirt_"_ion) is tn_ed _nticall¥ -- it isignored and not r._oflled. This is an essenrm/ fe_unt of any

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Compromise between performance and stability:

Possible root -loci (local):

(Collocated force sensor, piezo actuator)

ComDromlse:

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(Limits theoretical active disturbance attenuation to 1/_)

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Of POOR QUALITY

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Error sensors should be carefully selected

Colocated force transducers make

Flanking paths may be important

good error sensors

Uncontrolled axes are flanking paths

Active isolatic_ c_ oeriodic disturbances

widespread _m_i _ me.ntation"

Each application:

how many axes?

flanking paths?actuators?

sensors?

plant dynamics?

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RE A T: A TIVE VIBRATIONISOLATION)

Active control of periodic noise (narrowband) is easy

and important

Active techniques will have major impact uponnarrowband .?_,.¢_,_, ('_ o[Nion when

_jDesign requirements prohibit soft mounts

Performance demands justify cost andmaintenance

Broadband isolation will remain passive or quasi-

passive, particularly in presence of important plantdynamics.

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