Title :
On the elastic mode estimation aspect of a class of multibody flexible systems
Author :
Karray, F. ; Modi, V.J. ; Dwyer, T.A.W.
Author_Institution :
Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
An investigation pertaining to estimation of the elastic generalized coordinates for a given class of flexible structures is presented. To begin with, a model for studying nonlinear dynamics of the structure is described. The governing equations of motion are obtained using the Lagrangian procedure with model discretization. Next, deformations caused by rapid slewing maneuvers are estimated using the least squares estimation approach. As an alternative, a procedure based on the operator spline technique is proposed and its potential assessed. It is motivated by the need for achieving an online estimation procedure permitting real-time control. Finally, a comparative performance study of the two procedures is undertaken using a simplified model of the flexible system
Keywords :
Kalman filters; State estimation; aerospace control; control system analysis; damping; dynamics; elastic deformation; feedback; identification; interpolation; least squares approximations; nonlinear systems; state estimation; Lagrangian procedure; damping; deformations; elastic generalized coordinates; elastic mode estimation; equations of motion; extended Kalman filtering; feedback linearisation; least squares estimation; model discretization; multibody flexible systems; nonlinear dynamics; observers; operator spline technique; optimal interpolator; rapid slewing maneuvers; real-time control; Flexible structures; Lagrangian functions; Least squares approximation; Mechanical engineering; Nonlinear equations; Space shuttles; Space stations; Spline; Strain measurement; Vibrations;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371489
