Wang Ben-li

Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via H∞ and μ Synthesis

Abstract Active vibration control is needed for future space telescopes, space laser communication and other precision sensitive payloads which require ultra-quiet environments. A Stewart platform based hybrid isolator with 6 hybrid struts is the effective system for active/passive vibration isolation over 5–250 Hz band. Using an identification transfer matrix of the Stewart platform, the coupling analysis of six channels is provided. A dynamics model is derived, and the rigid mode is removed to keep the signal of pointing control. Multi objective robust H ∞ and μ synthesis strategies, based on singular values and structured singular values respectively, are presented, which simultaneously satisfy the low frequency pointing and high frequency disturbance rejection requirements and take account of the model uncertainty, parametric uncertainty and sensor noise. Then, by performing robust stability test, it is shown that the two controllers are robust to the uncertainties, the robust stability margin of H ∞ controller is less than that of μ controller, but the order of μ controller is higher than that of H ∞ controller, so the balanced controller reduction is provided. Additionally, the μ controller is compared with a PI controller. The time domain simulation of the μ controller indicates that the two robust control strategies are effective for keeping the pointing command and isolating the harmonic and stochastic disturbances.

Multidimensional modal analysis of liquid nonlinear sloshing in right circular cylindrical tank

The multidimensional modal theory proposed by Faltinsen, et al. (2000) is applied to solve liquid nonlinear free sloshing in right circular cylindrical tank for the first time. After selecting the leading modes and fixing the order of magnitudes based on the Narimanov-Moiseev third order asymptotic hypothesis, the general infinite dimensional modal system is reduced to a five dimensional asymptotic model system (the system of second order nonlinear ordinary differential equations coupling the generalized time dependent coordinates of free surface wave elevation). The numerical integrations of this modal system discover most important nonlinear phenomena, which agree well with both pervious analytic theories and experimental observations. The results indicate that the multidimensional modal method is a very good tool for solving liquid nonlinear sloshing dynamics and will be developed to investigate more complex sloshing problem in our following work.

Stable response of low-gravity liquid non-linear sloshing in a circle cylindrical tank

Under pitch excitation, the sloshing of liquid in circular cylindrical tank includes planar motion, rotary motion and rotary motion inside planar motion. The boundaries between stable motion and unstable motion depend on the radius of the tank, the liquid height, the gravitational intension, the surface tensor and the sloshing damping. In this article, the differential equations of nonlinear sloshing are built first. And by variational principle, the Lagrange function of liquid pressure is constructed in volume intergration form. Then the velocity potential function is expanded in series by wave height function at the free surface. The nonlinear equations with kinematics and dynamics free surface boundary conditions through variation are derived. At last, these equations are solved by multiple-scales method. The influence of Bond number on the global stable response of nonlinear liquid sloshing in circular cylinder tank is analyzed in detail. The result indicates that variation of amplitude frequency response characteristics of the system with Bond, jump, lag and other nonlinear phenomena of liquid sloshing are investigated.

Modal part analysis of slosh of the liquid in a cylindrical container in the case of small bond number

Reconstruction of liquid free slosh modes by curved quiet free surface was investigated in the case of small Bond number by means of modal part analysis method in this paper. It is shown that the curved liquid quiet free surface would couple the modes to form new eigen-modes while the orthogonality of the modes which participate the liquid slosh are given only by their Bessel modal parts and it would change their eigen-frequencies respectively while the orthogonality are given by their triangle function modal parts. By studying the laterally forced slosh of the liquid in a cylindrical container based on the new eigen-modes, a characteristic of modeschoosing was found.

Forces and Moments of the Liquid Finite Amplitude Sloshing in a Liquid-Solid Coupled System

Nonlinear coupling dynamics between a spring-mass system and a finite amplitude sloshing system with liquid in a cylindrical tank is investigated. Based on a group of nonlinear coupling equations of six degrees of freedoms, analytical formulae of forces and moments of the liquid large amplitude sloshing were obtained. Nonlinearity of the forces and moments of the sloshing was induced by integrating on final configuration of liquid sloshing and the nonlinear terms in the liquid pressure formula. The symmetry between the formula of Ox and Oy direction proves that the derivation is correct. According to the coupled mechanism, the formulae are available in other liquid-solid coupled systems. Simulations and corresponding experimental results are compared. It is shown that the forces and moments formulae by integrating on the final sloshing configuration are more reasonable. The omitted high-dimensional modal bases and high-order nonlinear terms and the complexity of sloshing damping are main sources of errors.

A computational method for interval mixed variable energy matrices in precise integration

To solve the Riccati equation of LQ control problem, the computation of interval mixed variable energy matrices is the first step. Taylor expansion can be used to compute the matrices. According to the analogy between structural mechanics and optimal control and the mechanical implication of the matrices, a computational method using state transition matrix of differential equation was presented. Numerical examples are provided to show the effectiveness of the present approach.To solve the Riccati equation of LQ control problem, the computation of interval mixed variable energy matrices is the first step. Taylor expansion can be used to compute the matrices. According to the analogy between structural mechanics and optimal control and the mechanical implication of the matrices, a computational method using state transition matrix of differential equation was presented. Numerical examples are provided to show the effectiveness of the present approach.

Theory and algorithm of optimal control solution to dynamic system parameters identification (II) — Stochastic system parameters identification and application example

Based on the contents of part (I) and stochastic optimal control theory, the concept of optimal control solution to parameters identification of stochastic dynamic system is discussed at first. For the completeness of the theory developed in this paper and part (I), then the procedure of establishing Hamilton-Jacobi-Bellman (HJB) equations of parameters identification problem is presented. And then, parameters identification algorithm of stochastic dynamic system is introduced. At last, an application example-local nonlinear parameters identification of dynamic system is presented.

ON THE STRESS CONCENTRATION IN THICK CYLINDRICAL .SHELLS WITH AN ARBITRARY CUTOUT

In this paper, based on the theory of thick shells including effects of transverse shear deformations, a complex variables analytic method to solve stress concentrations in circular cylindrical shells with a small cutout is established. A general solution and expression satisfying the boundary conditions on the edge of arbitrary cutouts are obtained. The stress problem can be reduced to the solution of an infinite algebraic equation series, and can be normalized by means of this method. Numerical results for stress concentration factors of the shell with a small circular and elliptic cutout are presented.