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Vibration Isolation for Flexible Space Structures: Zeros-Based and Decentralized Control Approaches

机译：柔性空间结构的隔振：基于零点和分散控制的方法

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The transmission zeros of a flexible space structure (FSS) depend on the locations at which its sensors and actuators are positioned, and provide a great deal of information concerning the closed-loop performance that is achievable with this sensor/actuator arrangement. Furthermore, the zeros of non-collocated structures possess entirely different properties than those of the zeros of collocated structures. The first part of this report analyzes these properties, and quantifies the extreme sensitivity to sensor and actuator position that can occur for non-collocated zeros. The report then describes two computationally efficient techniques for the related problem of placing instruments on a flexible structure so as to minimize the disturbance effects of the slewing of one instrument on the pointing performance of the others. In both approaches, perturbation methods are used to derive ideal directions in which each instrument should be displaced so as to reduce some measure of cross-instrument observability as much as possible; the difference between the approaches lies in the details of the observability measure used. The methods are illustrated by application to two structural models, one continuous and the other discrete; both demonstrate the improvement in performance that is achievable by the purely passive technique of repositioning instruments. Furthermore, in the course of this analysis, the degrees of controllability and observability of close structural modes are quantified in detail. Finally, the--report addresses the question of designing efficient decentralized controllers for FSS. One factor which must be born in mind in this analysis is that the controllability and observability Grammian matrices which are usually studied are inherently open-loop quantities; they therefore do not reflect any decentralized structure present in the controller. In order to overcome this problem, new closed-loop Grammians are introduced here, and shown to be very useful for analysis of decentralized FSS controllers. In particular, they lead to a natural technique for performing a sequential loop-closing form of controller design, based on closing single input/single output feedback loops between a set of decentralized sensor and actuator pairs, possibly collocated.

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