Dissertation/Thesis Abstract

Real-time Determination and Inversion of Vibration Modes for Control of Elastic Inverted Pendulum
by Blackney, Andrew S., M.S., California State University, Long Beach, 2018, 82; 10752034
Abstract (Summary)

In modern launch vehicle design the elastic dynamics of the vehicle are not considered in the control scheme of the vehicle due to the large size and large inertia of the vehicle. A few fleet of small nanosatellite spacecraft are coming online that do not require such large vehicles and could be aided by a cheaper, smaller launch vehicle. This paper lays out the ground work for developing a real-time controller that controls the vehicle to maintain tracking control while the vehicle experiences elastic loads. The launch vehicle is modeled as an inverted pendulum with the elastic dynamics of the vehicle observed as an extra moment applied to the vehicle. The controller actively reconstructs the bending modes of the vehicle and incorporates the elastic dynamics along with the angular position and rate of change of the angular position to create a dynamic inversion controller. The controller contains an inner loop traditional Proportional Integral Derivative (PID) controller along with an outer loop control that utilizes adaptive control to adjust the gains utilized in the PID inner loop based on the vibrations experienced. The controller was tested and shown to be more capable than a traditional PID controller in maintaining the course of the launch vehicle. The controller consists of an inner loop with a PID controller and an outer loop and utilizes dynamic inversion with gain scheduling that uses the predicted active vibrational mode to apply a gain to the error to properly control the vehicle

Indexing (document details)
Advisor: Shankar, Praveen
Commitee: Roy, Surajit, Whisler, Daniel
School: California State University, Long Beach
Department: Mechanical and Aerospace Engineering
School Location: United States -- California
Source: MAI 58/01M(E), Masters Abstracts International
Subjects: Aerospace engineering
Keywords: Bending, Inverted pendulum, Rocket, Vibtration
Publication Number: 10752034
ISBN: 9780438208926
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