Nonlinear control for maneuvering multiple flexible mode systems

Author

La-Orpacharapan, Chanat ; Pao, Lucy Y.

Author_Institution

Dept. of Electr. & Comput. Eng., Colorado Univ., Boulder, CO, USA

Volume

2

fYear

2004

fDate

June 30 2004-July 2 2004

Firstpage

1176

Abstract

This paper derives closed-loop control laws using a phase-plane approach for flexible structures having two flexible modes. The flexible modes are addressed by using multi-mode input shapers to shape the time-optimal control for the rigid body portion of the system, and then the altered rigid body phase-plane trajectories resulting from this shaping are solved and used to determine a closed-loop controller. Both "convolution" and "simultaneous" method multi-mode input shapers are considered. Simulations show that the derived control laws applied to a disk drive system yield near time-optimal performance without unwanted residual vibrations.

Keywords

closed loop systems; convolution; disc drives; flexible structures; nonlinear control systems; servomechanisms; time optimal control; closed loop control laws; closed loop controller; convolution; disk drive system; flexible structures; multimode input shapers; multiple flexible mode systems; nonlinear control system; phase plane method; residual vibrations; rigid body phase plane trajectories; servomechanism; time optimal control; time optimal performance;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2004. Proceedings of the 2004

Conference_Location

Boston, MA, USA

ISSN

0743-1619

Print_ISBN

0-7803-8335-4

Type

conf

Filename

1386732