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Multidegrees-of-freedom effective force testing: a feasibility study and robust stability assessment

机译：多自由度有效力测试：可行性研究和强大的稳定性评估

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This paper presents a feasibility study of multidegrees-of-freedom effective force testing (MDOF-EFT). The study is intended to facilitate the development of a force feedback controller and investigation of performance as well as robustness of MDOF-EFT. First, the dynamics of MDOF-EFT systems are analytically investigated. Analytical transfer functions of the control plant, the valve-to-force relations, showed that the plant is dynamically coupled and the natural frequencies of test structures are the transmission zeros of the plant. Using a set of model parameters from a previous study, a case study that includes controller design, numerical simulations and robust stability assessment is performed. A decoupling loop shaping (DLS) controller consisting of a pseudo inverse of the plant and second-order loop shaping controllers is adopted as the force feedback controller. It is shown that the DLS controller provides a stable control system while successfully decoupling the control loops and compensating the control-structure interaction. Numerical simulations demonstrate that the DLS controller enables tracking of static and dynamic forces for multiple actuators. Robust stability of MDOF-EFT with the DLS controller is assessed using Monte Carlo simulation. The stochastic simulation results show that the DLS controller is stable and robust, providing sufficient stability margins for uncertain models with maximum 50% errors in the estimated system parameters. This paper demonstrates that MDOF-EFT is feasible with the DLS controller and can be implemented in experimental laboratories.
机译：本文提出了多自由度有效力测试（MDOF-EFT）的可行性研究。该研究旨在促进力反馈控制器的开发以及对MDOF-EFT的性能以及鲁棒性的研究。首先，对MDOF-EFT系统的动力学进行了分析研究。控制设备的分析传递函数，阀与力的关系表明，设备是动态耦合的，测试结构的固有频率是设备的传输零点。使用先前研究中的一组模型参数，进行了包括控制器设计，数值模拟和鲁棒稳定性评估的案例研究。由设备的伪逆和二阶环路整形控制器组成的去耦环路整形（DLS）控制器用作力反馈控制器。结果表明，DLS控制器在提供稳定的控制系统的同时，成功地将控制回路解耦并补偿了控制结构相互作用。数值模拟表明，DLS控制器可以跟踪多个执行器的静态和动态力。使用蒙特卡洛仿真评估了带有DLS控制器的MDOF-EFT的鲁棒稳定性。随机仿真结果表明，DLS控制器稳定可靠，为不确定的模型提供了足够的稳定性裕量，估计的系统参数中最大误差为50％。本文证明了使用DLS控制器的MDOF-EFT是可行的，并且可以在实验实验室中实现。

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