A mathematical model of a six-degree-of-freedom hexapod system for vibration isolation was derived in the discrete-time domain on the basis of the experimental data obtained from a satellite. Using Box-Jenkins model structure, the transfer functions between six piezoelectric actuator input voltages and six geophone sensor output voltages are identified empirically. The 6×6 transfer function matrix is symmetric, and its off-diagonal terms indicate the coupling among different input/output channels. Though the coupling was observed among various input/output channels up to 10 Hz, the single-input single-output (SISO) controllers were designed neglecting the effect of coupling. The SISO controllers demonstrated limited performance in vibration attenuation. Using multi-input multi-output (MIMO) control techniques such as Linear Quadratic Gaussian (LQG) and H∞, high-order controllers were developed. The simulation results using these controllers obtain 33 dB, and 12 dB attenuation at 5, and 25 Hz corner frequencies, respectively.
System Identification and Multivariate Controller Design for a Satellite Ultraquiet Isolation Technology Experiment (SUITE)
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Joshi, AA, & Kim, W. "System Identification and Multivariate Controller Design for a Satellite Ultraquiet Isolation Technology Experiment (SUITE)." Proceedings of the ASME 2002 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control. New Orleans, Louisiana, USA. November 17–22, 2002. pp. 595-603. ASME. https://doi.org/10.1115/IMECE2002-32024
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