DocumentCode :
1090865
Title :
Implementation of an Aerostat Positioning System With Cable Control
Author :
Lambert, Casey ; Nahon, Meyer ; Chalmers, Dean
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que.
Volume :
12
Issue :
1
fYear :
2007
Firstpage :
32
Lastpage :
40
Abstract :
The capabilities of a multi-tethered aerostat positioning system are investigated using experimental and simulation results. The system consists of a platform supported by a helium-filled aerostat and attached to three anchored ground tethers actuated using computer-controlled winches. The experimental system was designed to perform a proof-of-concept study of a novel large-scale radio telescope requiring a receiver to be positioned accurately at an altitude of up to 500 m. Results from a series of flight tests are presented with a comparison between the passive response of the system and the response using proportional, integral, and derivative (PID) controllers with a position feedback. The motion of the platform is smaller for all cases using the feedback control. To improve on the PID results, a dynamics model of the system is used to develop and simulate optimal and feedforward (FF) control strategies. The optimal linear quadratic Gaussian (LQG) controller offers a 50% improvement over the PID controller, and both the LQG and the PID feedback controllers were shown to benefit considerably from the addition of a FF control term that exploits the measurements of the system´s main disturbance force
Keywords :
aerospace control; feedback; feedforward; linear quadratic Gaussian control; position control; three-term control; PID feedback controller; aerostat positioning system; cable control; computer-controlled winches; feedforward control; optimal linear quadratic Gaussian controller; proportional, integral, and derivative controller; Computational modeling; Control systems; Force control; Force measurement; Large-scale systems; Linear feedback control systems; Optical design; Optimal control; Three-term control; Winches; Feedforward (FF) control; mechanical cables; optimal control; position control; radio astronomy;
fLanguage :
English
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
Publisher :
ieee
ISSN :
1083-4435
Type :
jour
DOI :
10.1109/TMECH.2006.886251
Filename :
4088971
Link To Document :
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