Many space vehicles have been launched with large flexible components such as booms and solar panels. These large space structures (LSSs) have the potential to make attitude control unstable due to their lightly damped vibration. These vibrations can be controlled using a collection of control moment gyros (CMGs). CMGs consist of a spinning wheel in gimbals and produce a torque when the orientation of the wheel is changed. This study investigates the optimal distribution of these CMGs on LSSs for vibration suppression. The investigation considers a beam and a plate structure with evenly placed CMGs. The optimization allocates the amount of stored angular momentum possessed by these CMGs according to a cost function dependent on how quickly vibration motions are damped and how much control effort is exerted. The optimization results are presented and their effect on the motions of the beam and plate are investigated.

Many space vehicles have been launched with large flexible components such as booms and solar panels. These large space structures (LSSs) have the potential to make attitude control unstable due to their lightly damped vibration. These vibrations can be controlled using a collection of control moment gyros (CMGs). CMGs consist of a spinning wheel in gimbals and produce a torque when the orientation of the wheel is changed. This study investigates the optimal distribution of these CMGs on LSSs for vibration suppression. The investigation considers a beam and a plate structure with evenly placed CMGs. The optimization allocates the amount of stored angular momentum possessed by these CMGs according to a cost function dependent on how quickly vibration motions are damped and how much control effort is exerted. The optimization results are presented and their effect on the motions of the beam and plate are investigated.

In this thesis, the author presents a numerical and experimental study of the application of active constrained layer damping to a clamped-clamped plate. Piezoelectric actuators with modal controllers are used to improve the performance of vibration suppression from the passive constrained layer damping treatment. Surface damping treatments are often effective at suppressing higher frequency vibrations in thin-walled structures such as beams, plates and shells. However, the effective suppression of lower frequency modes usually requires the additional of an active vibration control scheme to augment the passive treatment. Advances in the technologies associated with so-called smart materials are dramatically reducing the cost, weight and complexity of active structural control and make it feasible to consider active schemes in an increasing number of applications. Specifically, a passive constrained layer damping treatment is enhanced with an active scheme employing a piezoceramic (PZT) patch as the actuator. Starting with an established finite element formulation it is shown how model updating and model reduction are required to produce a low-order state-space model which can be used as the basis for active control. The effectiveness of the formulation is then demonstrated in a numerical study. Finally, in the description of the experimental study it is shown how modes in the frequency range from 0 to 600 Hz are effectively suppressed: the two lowest modes (bending and torsional) through active control, the higher modes (around ten in number) by the passive constrained damping layer. The study'S original contribution lies in the experimental demonstration that given a sufficiently accurate model of the plate and passive constrained damping layer, together with a suitable active feedback control algorithm, spillover effects are not significant even when using a single sensor and single actuator. The experimental traces show, in some instances, minor effects due to spillover. However, it can be concluded that the presence of the passive layer introduces sufficient damping into the residual modes to avoid any major problems when using only the minimum amount of active control hardware.

Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle remote Manipulator System have frequencies that vary significantly based upon configuration and loading. Recently, a technique of minimizing vibrations in flexible structures by command input shaping was developed. This document presents research completed in developing a simple, closed- form method of calculating input shaping sequences for two-mode systems and a system to adapt the command input shaping technique to known changes in system frequency about the workspace. The new techniques were tested on a three-link, flexible manipulator.

There are several advantages to replacing CNC machinery with robotic machine tools and as such robotic machining is emerging into the manufacturing and metal cutting industry. There remain several disadvantages to using robots over CNC stations primarily due to flexibility in robotic manipulators, which severely reduces accuracy when operating under high machining forces. This flexibility is dependent on configuration and thus the configuration can be optimised through posture selection to minimise deflection. In previous work little has been done to account for operating frequency and the additional complications that can arise from frequency dependent responses of robotic machine tools. A Fanuc S-360 manipulator was used to experimentally investigate the benefits of including frequency compensation in posture selection. The robot dynamics first had to be identified and experimental modal analysis was selected due the inherent dependency on frequency characteristics. Specifically, a circle fit operation identified modal parameters and a least squares optimisation generated dynamic parameters for a spatial model. A rigid-link flexible-joint model was selected and a pseudo-joint was used to create an additional DOF to accommodate link flexibility. Posture optimisation was performed using a gradient-descent algorithm that used several starting points to identify a global minimum. The results showed that a subset of modal data that excluded the mode shape vectors could be used to create a model to predict the manipulator vibration response. It was also found that the receptance variation of the manipulator with configuration was insufficient to verify the optimisation throughout the entire selected workspace; however the model was shown to be useful in regions containing multiple peaks where the modelled dynamics were dominant over the highly volatile measured data. Simulations were performed on a redundant planar manipulator to overcome the lack of receptance variation found in the Fanuc manipulator. These simulations showed that there were two mechanisms driving the optimisation; overall amplitude reduction and frequency specific amplitude reduction. Using a stiffness posture measure for comparison, the results of the frequency specific reduction could be separated and were found to be particularly beneficial when operating close to resonant frequencies.

There are several advantages to replacing CNC machinery with robotic machine tools and as such robotic machining is emerging into the manufacturing and metal cutting industry. There remain several disadvantages to using robots over CNC stations primarily due to flexibility in robotic manipulators, which severely reduces accuracy when operating under high machining forces. This flexibility is dependent on configuration and thus the configuration can be optimised through posture selection to minimise deflection. In previous work little has been done to account for operating frequency and the additional complications that can arise from frequency dependent responses of robotic machine tools. A Fanuc S-360 manipulator was used to experimentally investigate the benefits of including frequency compensation in posture selection. The robot dynamics first had to be identified and experimental modal analysis was selected due the inherent dependency on frequency characteristics. Specifically, a circle fit operation identified modal parameters and a least squares optimisation generated dynamic parameters for a spatial model. A rigid-link flexible-joint model was selected and a pseudo-joint was used to create an additional DOF to accommodate link flexibility. Posture optimisation was performed using a gradient-descent algorithm that used several starting points to identify a global minimum. The results showed that a subset of modal data that excluded the mode shape vectors could be used to create a model to predict the manipulator vibration response. It was also found that the receptance variation of the manipulator with configuration was insufficient to verify the optimisation throughout the entire selected workspace; however the model was shown to be useful in regions containing multiple peaks where the modelled dynamics were dominant over the highly volatile measured data. Simulations were performed on a redundant planar manipulator to overcome the lack of receptance variation found in the Fanuc manipulator. These simulations showed that there were two mechanisms driving the optimisation; overall amplitude reduction and frequency specific amplitude reduction. Using a stiffness posture measure for comparison, the results of the frequency specific reduction could be separated and were found to be particularly beneficial when operating close to resonant frequencies.

This work focuses on the broadband attenuation of structural vibration and, in the process, employs a new perspective of vibrational energy harvesting devices. The first part of the research studies and develops a continuously distributed vibration control device which combines the benefits of point mass-spring-dampers at low frequencies as well as the resistive or dissipative influence of constraining treatments at high frequencies. This embodiment provides broadband passive vibration attenuation for a minimal cost in added mass, spanning the present divide between the ability to attenuate a single low frequency and the need to attenuate all frequencies. The second part adopts a vibration control perspective to energy harvesting analysis and considers the harvesting devices to be electromechanically stiffened and/or damped vibration absorbers. Rigorous analysis and experiments are carried out which show that vibration control and energy harvesting appear to be mutually beneficial given that maximum harvested energy from structural vibrations is achieved when the harvesters exert a finite dynamic influence on the host system. This suggests that vibration control concerns presently alleviated using tuned-mass-dampers are ideal energy harvesting applications. A generalized analytical model is derived which is applicable to both portions of the work. Continuously distributed vibration control devices are studied in depth and a superposition method is presented which allows for convenient implementation of a realistic device design into the numerical model. Tests carried out with the distributed device validate the model as well as show the device's competitive benefits compared with traditional, and much heavier, vibration control treatments. The inclusion of electromechanical coupling effects into the modeling is straightforward and numerous analyses are carried out to observe how electromagnetic and piezoelectric energy harvesting devices affect the dynamics of the host vibrating structure while the harvesters themselves convert the 'absorbed' energy into electrical power. Altering the device created in the first portion of the research to use a piezoelectric material as the distributed spring yields one such embodiment capable of both surface vibration control and energy harvesting. Tests carried out with the device additionally serve as model validation but also indicate that, for a given harvester, the attenuation of and energy harvesting from structural vibrations are nearly simultaneously maximized as modeling predicted. / Ph. D.

Vehicles and mechanisms which must perform very precise tasks or maneuvers require controllers to compensate for their inherent structural flexibility. Many of these applications involve structures that have time-varying dynamics, or have dynamics that are not considered in the traditional off-line controller design. These types of structures necessitate the use of adaptive control algorithms which can redesign themselves on-line in response to changes in the structural dynamics. This work describes an on-line control algorithm that uses the pole-zero spacings of the collocated control-to-output transfer function to design the optimum Positive Position Feedback (PPF) control law. The PPF control law uses second-order filters to add closed-loop damping to resonant structural modes. An on-line PPF design algorithm was developed based on the theoretical model of the collocated control-to-output transfer function. The optimal PPF filter parameters are shown to be a function of the pole-zero spacing in the collocated transfer function. These parameters were found by solving the pole placement problem using a theoretical model for various pole-zero spacings. The parameters are then stored in a lookup table in the realtime controller, and a frequency sweep algorithm identifies the pole-zero spacing on-line and designs the PPF filters using the parameters in the lookup table. A Phase-Locked Loop (PLL) was also studied as a means for adaptively tuning the PPF filters on-line. The PLL behavior in the presence of random and deterministic signals was characterized. The PLL was used experimentally to tune a PPF filter to a changing modal frequency. Analysis of the theoretical model indicated the amount of closed-loop damping a PPF filter can add monotonically increases with the amount of frequency spacing of the pole/zero pair. Experimental results with the on-line optimal PPF control algorithm proved it to be effective at adding damping to structures and suppressing vibration. The poles and zeros of the control-to-output transfer function were accurately identified by the pole/zero identification routine. However, the closed-loop performance was shown to be very dependent on the correct placement of sensor and actuator pairs. Tests with pointing control problems showed the algorithm to be better suited to vibration suppression rather than vibration isolation. Simulations and experiments with the phase-locked loop showed it to be unable to track a modal frequency of a structure excited by broadband noise. Bandpass prefilters would be necessary to eliminate the frequency content of the other modes, limiting the usefulness of the PLL. / Master of Science

<p>The rolling isolation system (RIS) studied in this dissertation functions on the principle of a rolling pendulum; an isolated object rests on a steel frame that is supported at its corners by ball-bearings that roll between shallow steel bowls, dynamically decoupling the floor motion from the response of the object. The primary focus of this dissertation is to develop predictive models that can capture experimentally-observed phenomena and to advance the state-of-the-art by proposing new isolation technologies to surmount current performance limitations. To wit, a double RIS increases the system's displacement capacity, and semi-active and passive damped RISs suppress the system's displacement response.</p><p>This dissertation illustrates the performance of various high-performance isolation strategies using experimentally-validated predictive models. Effective modeling of RISs is complicated by the nonholonomic and chaotic nature of these systems which to date has not received much attention. Motivated by this observation, the first part of this dissertation addresses the high-fidelity modeling of a single, undamped RIS, and later this theory is augmented to account for the double (or stacked) configuration and the supplemental damping via rubber-coated bowl surfaces. The system's potential energy function (i.e. conical bowl shape) and energy dissipation model are calibrated to free-response experiments. Forced-response experiments successfully validate the models by comparing measured and predicted peak displacement and acceleration responses over a range of operating conditions.</p><p>Following the experimental analyses, numerical simulations demonstrate the potential benefits of the proposed technologies. This dissertation presents a method to optimize damping force trajectories subject to constraints imposed by the physical implementation of a particular controllable damper. Potential improvements in terms of acceleration response are shown to be achievable with the semi-active RIS. Finally, extensive time-history analyses establish how the undamped and damped RISs perform when located inside biaxial, hysteretic, multi-story structures under recorded earthquake ground motions. General design recommendations, supported by critical-disturbance spectra and peak-response distributions, are prescribed so as to ensure the uninterrupted operation of vital equipment.</p> / Dissertation

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