Advanced structural dynamics and active control of structures:
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
New York
Springer-Verlag
2004
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| Series: | Mechanical engineering series
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| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | Auch angekündigt als: Dynamics identification and control of structures Hier auch später erschienene, unveränderte Nachdrucke |
| Physical Description: | XXII, 396 S. Ill., graph. Darst. |
| ISBN: | 0387406492 9781441923479 |
Staff View
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| 245 | 1 | 0 | |a Advanced structural dynamics and active control of structures |c Wodek K. Gawronski |
| 246 | 1 | 3 | |a Dynamics identification and control of structures |
| 264 | 1 | |a New York |b Springer-Verlag |c 2004 | |
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| adam_text | Titel: Advanced structural dynamics and active control of structures
Autor: Gawronski, Wodek
Jahr: 2004
Contents
Series Preface ...........................vii
Preface ...............................ix
List of Symbols ..........................xix
1 Introduction to Structures .................... 1
1.1 Examples .......................... 1
1.1.1 A Simple Structure ................... 1
1.1.2 A 2D Truss ...................... 2
1.1.3 A 3D Truss ....................... 2
1.1.4 A Beam ........................ 3
1.1.5 The Deep Space Network Antenna ............ 3
1.1.6 The International Space Station Structure ......... 6
1.2 Definition ......................... 6
1.3 Properties ......................... 7
2 Standard Models ........................ 13
2.1 Models of a Linear System ................. 14
2.1.1 State-Space Representation ............... 14
2.1.2 Transfer Function ................... 15
2.2 Second-Order Structural Models ............... 16
2.2.1 Nodal Models ..................... 16
2.2.2 Modal Models .................... 17
2.3 State-Space Structural Models ................ 29
2.3.1 Nodal Models ..................... 29
2.3.2 Models in Modal Coordinates .............. 31
2.3.3 Modal Models .................... 35
xiv Contents
3 Special Models ..........................41
3.1 Models with Rigid-Body Modes ................41
3.2 Models with Accelerometers .................45
3.2.1 State-Space Representation ................ 45
3.2.2 Second-Order Representation ............... 48
3.2.3 Transfer Function .................... 49
3.3 Models with Actuators ................... 50
3.3.1 Model with Proof-Mass Actuators ............. 50
3.3.2 Model with Inertia! Actuators ............... 53
3.4 Models with Small Nonproportional Damping .......... 54
3.5 Generalized Model ..................... 58
3.5.1 State-Space Representation ................59
3.5.2 Transfer Function ...................59
3.6 Discrete-Time Models ....................60
3.6.1 State-Space Representation ................61
3.6.2 Transfer Function ...................63
4 Controllability and Observability .................65
4.1 Definition and Properties ...................65
4.1.1 Continuous-Time Systems ................66
4.1.2 Discrete-Time Systems .................68
4.1.3 Relationship Between Continuous- and
Discrete-Time Grammians................. 69
4.2 Balanced Representation ................... 71
4.3 Balanced Structures with Rigid-Body Modes .......... 73
4.4 Input and Output Gains .................... 74
4.5 Controllability and Observability of a Structural Modal Model ... 76
4.5.1 Diagonally Dominant Grammians ............. 76
4.5.2 Closed-Form Grammians ................. 79
4.5.3 Approximately Balanced Structure in Modal Coordinates ... 80
4.6 Controllability and Observability of a Second-Order Modal Model . . 85
4.6.1 Grammians ...................... 85
4.6.2 Approximately Balanced Structure in Modal Coordinates ... 87
4.7 Three Ways to Compute Hankel Singular Values ........ 91
4.8 Controllability and Observability of the Discrete-Time
Structural Model ......................91
4.9 Time-Limited Grammians ..................94
4.10 Frequency-Limited Grammians ................99
4.11 Time-and Frequency-Limited Grammians ...........103
4.12 Discrete-Time Grammians in Limited-Time and -Frequency Range 107
5 Norms .............................109
5.1 Norms of the Continuous-Time Systems ........... 109
5.1.1 The H2 Norm ..................... 109
5.1.2 TheFLNorm .................... Ill
5.1.3 The Hankel Norm ................... 112
Contents xv
5.2 Norms of the Discrete-Time Systems ............. 113
5.2.1 The H2 Norm ..................... 113
5.2.2 The H* Norm .................... 114
5.2.3 The Hankel Norm.................... 114
5.3 Norms of a Single Mode ................... 115
5.3.1 The H2 Norm ..................... 115
5.3.2 The H o Norm ..................... 117
5.3.3 The Hankel Norm ................... 118
5.3.4 Norm Comparison ................... 119
5.4 Norms of a Structure .................... 120
5.4.1 The H2 Norm ..................... 121
5.4.2 The Hx Norm .................... 121
5.4.3 The Hankel Norm ................... 123
5.5 Norms of a Structure with a Filter .............. 124
5.5.1 The H2 Norm ..................... 124
5.5.2 The H^ Norm ..................... 126
5.5.3 The Hankel Norm ................... 127
5.6 Norms of a Structure with Actuators and Sensors ........ 127
5.6.1 The H2 Norm ..................... 128
5.6.2 The H* Norm ..................... 130
5.6.3 The Hankel Norm ................... 132
5.7 Norms of a Generalized Structure .............. 135
5.8 Norms of the Discrete-Time Structures ............ 137
5.8.1 The H2 Norm ..................... 138
5.8.2 The Hw Norm ..................... 139
5.8.3 The Hankel Norm ................... 140
5.8.4 Norm Comparison ................... 140
6 Model Reduction ........................ 143
6.1 Reduction Through Truncation ............... 143
6.2 Reduction Errors ...................... 145
6.2.1 H2 Model Reduction .................. 145
6.2.2 PL and Hankel Model Reduction ............ 146
6.3 Reduction in the Finite-Time and-Frequency Intervals ..... 147
6.3.1 Reduction in the Finite-Time Interval ........... 148
6.3.2 Reduction in the Finite-Frequency Interval ........ 150
6.3.3 Reduction in the Finite-Time and-Frequency Intervals . . . 151
6.4 Structures with Rigid-Body Modes ............. 155
6.5 Structures with Actuators and Sensors ............ 159
6.5.1 Actuators and Sensors in a Cascade Connection ...... 159
6.5.2 Structure with Accelerometers ............. 161
6.5.3 Structure with Proof-Mass Actuators ........... 162
6.5.4 Structure with Inertial Actuators ............ 165
xvi Contents
7 Actuator and Sensor Placement ................. 167
7.1 Problem Statement .................... 168
7.2 Additive Property of Modal Norms .............. 168
7.2.1 The H2 Norm ..................... 169
7.2.2 The Ex, and Hankel Norms ............... 169
7.3 Placement Indices and Matrices ............... 170
7.3.1 H2 Placement Indices and Matrices ........... 170
7.3.2 Ho and Hankel Placement Indices and Matrices ...... 172
7.3.3 Actuator/Sensor Indices and Modal Indices ........ 173
7.4 Placement for Large Structures ............... 180
7.4.1 Actuator Placement Strategy.............. 182
7.4.2 Sensor Placement Strategy ............... 182
7.5 Placement for a Generalized Structure ............ 187
7.5.1 Structural Testing and Control ............. 187
7.5.2 Sensor and Actuator Properties ............. 189
7.5.3 Placement Indices and Matrices ............. 192
7.5.4 Placement of a Large Number of Sensors ......... 193
7.6 Simultaneous Placement of Actuators and Sensors ....... 197
8 Modal Actuators and Sensors .................. 203
8.1 Modal Actuators and Sensors Through Modal Transformations . . 204
8.1.1 Modal Actuators ................... 204
8.1.2 Modal Sensors .................... 208
8.2 Modal Actuators and Sensors Through Grammian Adjustment . .213
9 System Identification ...................... 219
9.1 Discrete-Time Systems ................... 220
9.2 Markov Parameters .................... 221
9.3 Identification Algorithm .................. 221
9.4 Determining Markov Parameters .............. 224
9.5 Examples ......................... 226
9.5.1 A Simple Structure .................. 226
9.5.2 The 2D Truss .................... 230
9.5.3 The Deep Space Network Antenna ............ 232
10 Collocated Controllers ..................... 235
10.1 A Low-Authority Controller ................ 236
10.2 Dissipative Controller ................... 237
10.3 Properties of Collocated Controllers ............. 239
10.4 Root-Locus of Collocated Controllers ............ 241
10.5 Collocated Controller Design Examples ........... 245
10.5.1 A Simple Structure .................. 245
10.5.2 The 2D Truss .................... 246
11 LQG Controllers ....................... 249
11.1 Definition and Gains .................... 250
11.2 The Closed-Loop System .................. 253
Contents xvii
11.3 The Balanced LQG Controller ............... 254
11.4 The Low-Authority LQG Controller ............. 255
11.5 Approximate Solutions of CARE and FARE ......... 257
11.6 Root-Locus ....................... 260
11.7 Almost LQG-Balanced Modal Representation ......... 262
11.8 Three Ways to Compute LQG Singular Values ...... . 264
11.9 The Tracking LQG Controller ............... 264
11.10 Frequency Weighting ................... 266
11.11 The Reduced-Order LQG Controller ............. 269
11.11.1 The Reduction Index ................. 269
11.11.2 The Reduction Technique .............. 271
11.11.3 Stability of the Reduced-Order Controller ........ 272
11.11.4 Performance of the Reduced-Order Controller ...... 274
11.11.5 Weights of Special Interest .............. 275
11.12 Controller Design Procedure ................ 276
11.13 Controller Design Examples ................ 277
11.13.1 A Simple Structure .................. 277
11.13.2 The3DTruss .................... 279
11.13.3 The 3D Truss with Input Filter ............. 281
11.13.4 The Deep Space Network Antenna .......... 283
12 H. and H2 Controllers ..................... 287
12.1 Definition and Gains ................... 288
12.2 The Closed-Loop System ................. 291
12.3 The Balanced H*, Controller ................ 292
12.4 The H2 Controller .................... 294
12.4.1 Gains ........................ 294
12.4.2 The Balanced H2 Controller ............. 296
12.5 The Low-Authority Ex, Controller ............. 296
12.6 Approximate Solutions of HCARE and HFARE ....... 298
12.7 Almost H o-Balanced Modal Representation ......... 300
12.8 Three Ways to Compute Hx, Singular Values ......... 301
12.9 The Tracking H*, Controller ................ 301
12.10 Frequency Weighting ................... 301
12.11 The Reduced-Order Hx, Controller ............. 304
12.11.1 The Reduction Index ................. 304
12.11.2 Closed-Loop Poles ................. 304
12.11.3 Controller Performance ............... 306
12.12 Controller Design Procedure ................ 307
12.13 Controller Design Examples ................ 308
12.13.1 A Simple Structure .................. 308
12.13.2 The2DTruss .................... 310
12.13.3 Filter Implementation Example ............ 312
12.13.4 The Deep Space Network Antenna with
Wind Disturbance Rejection Properties ......... 313
xviii Contents
Appendices ............................ 317
A Matlab Functions ....................... 319
A. 1 Transformation from an Arbitrary State-Space Representation to
the Modal 1 State-Space Representation ........... 320
A.2 Transformation from an Arbitrary State-Space Representation to
the Modal 2 State-Space Representation ........... 322
A.3 Transformation from Modal Parameters to the Modal 1 State-Space
Representation ...................... 324
A.4 Transformation from Modal Parameters to the Modal 2 State-Space
Representation ....................... 325
A.5 Transformation from Nodal Parameters to the Modal 1 State-Space
Representation ...................... 326
A.6 Transformation from Nodal Parameters to the Modal 2 State-Space
Representation ...................... 328
A.7 Determination of the Modal 1 State-Space Representation and the
Time- and Frequency-Limited Grammians .......... 329
A.8 Open-Loop Balanced Representation ............. 331
A.9 H2 Norm of a Mode .................... 332
A.10 He Norm of a Mode .................... 333
A.ll Hankel Norm of a Mode .................. 333
A. 12 LQG-Balanced Representation ............... 334
A. 13 Hoo-Balanced Representation ................ 335
B Matlab Examples ....................... 337
B.l Example 2.5 ....................... 337
B.2 Example 3.3 ........................ 341
B.3 Example 4.11 ....................... 342
B.4 Example 5.3 ....................... 344
B.5 Example 6.7 ....................... 347
B.6 Example 7.2 ....................... 348
B.7 Example 8.1 ....................... 353
B.8 Example 9.1 ....................... 356
B.9 Example 10.4.2 ...................... 359
B.10 Example 11.13.1 ..................... 361
B.ll Example 12.13.2 ..................... 365
C Structural Parameters ..................... 371
C.l Mass and Stiffness Matrices of the 2D Truss ......... 371
C.2 Mass and Stillness Matrices of the Clamped Beam Divided into
15 Finite Elements .................... 373
C.3 State-Space Representation of the Deep Space Network Antenna . 376
References ............................ 379
Index .............................. 389
|
| any_adam_object | 1 |
| author | Gawronski, Wodek |
| author_facet | Gawronski, Wodek |
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| author_sort | Gawronski, Wodek |
| author_variant | w g wg |
| building | Verbundindex |
| bvnumber | BV019368724 |
| callnumber-first | T - Technology |
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| dewey-full | 624.1/71 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 624 - Civil engineering |
| dewey-raw | 624.1/71 |
| dewey-search | 624.1/71 |
| dewey-sort | 3624.1 271 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Physik Bauingenieurwesen Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV019368724 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T19:58:41Z |
| institution | BVB |
| isbn | 0387406492 9781441923479 |
| language | English |
| lccn | 2003058443 |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-012832251 |
| oclc_num | 52688129 |
| open_access_boolean | |
| owner | DE-703 DE-91G DE-BY-TUM DE-706 DE-91 DE-BY-TUM DE-83 |
| owner_facet | DE-703 DE-91G DE-BY-TUM DE-706 DE-91 DE-BY-TUM DE-83 |
| physical | XXII, 396 S. Ill., graph. Darst. |
| publishDate | 2004 |
| publishDateSearch | 2004 |
| publishDateSort | 2004 |
| publisher | Springer-Verlag |
| record_format | marc |
| series2 | Mechanical engineering series |
| spelling | Gawronski, Wodek Verfasser aut Advanced structural dynamics and active control of structures Wodek K. Gawronski Dynamics identification and control of structures New York Springer-Verlag 2004 XXII, 396 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Mechanical engineering series Auch angekündigt als: Dynamics identification and control of structures Hier auch später erschienene, unveränderte Nachdrucke Dinâmica das estruturas larpcal Structural control (Engineering) Structural dynamics Linearquadratische Kontrolltheorie (DE-588)4300607-3 gnd rswk-swf Strukturdynamik (DE-588)4226174-0 gnd rswk-swf Reglerentwurf (DE-588)4177447-4 gnd rswk-swf Modalanalyse (DE-588)4226177-6 gnd rswk-swf H-unendlich-Kontrolltheorie (DE-588)4488490-4 gnd rswk-swf Flexible Struktur (DE-588)4399238-9 gnd rswk-swf Flexible Struktur (DE-588)4399238-9 s Strukturdynamik (DE-588)4226174-0 s Modalanalyse (DE-588)4226177-6 s H-unendlich-Kontrolltheorie (DE-588)4488490-4 s Linearquadratische Kontrolltheorie (DE-588)4300607-3 s Reglerentwurf (DE-588)4177447-4 s DE-604 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012832251&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Gawronski, Wodek Advanced structural dynamics and active control of structures Dinâmica das estruturas larpcal Structural control (Engineering) Structural dynamics Linearquadratische Kontrolltheorie (DE-588)4300607-3 gnd Strukturdynamik (DE-588)4226174-0 gnd Reglerentwurf (DE-588)4177447-4 gnd Modalanalyse (DE-588)4226177-6 gnd H-unendlich-Kontrolltheorie (DE-588)4488490-4 gnd Flexible Struktur (DE-588)4399238-9 gnd |
| subject_GND | (DE-588)4300607-3 (DE-588)4226174-0 (DE-588)4177447-4 (DE-588)4226177-6 (DE-588)4488490-4 (DE-588)4399238-9 |
| title | Advanced structural dynamics and active control of structures |
| title_alt | Dynamics identification and control of structures |
| title_auth | Advanced structural dynamics and active control of structures |
| title_exact_search | Advanced structural dynamics and active control of structures |
| title_full | Advanced structural dynamics and active control of structures Wodek K. Gawronski |
| title_fullStr | Advanced structural dynamics and active control of structures Wodek K. Gawronski |
| title_full_unstemmed | Advanced structural dynamics and active control of structures Wodek K. Gawronski |
| title_short | Advanced structural dynamics and active control of structures |
| title_sort | advanced structural dynamics and active control of structures |
| topic | Dinâmica das estruturas larpcal Structural control (Engineering) Structural dynamics Linearquadratische Kontrolltheorie (DE-588)4300607-3 gnd Strukturdynamik (DE-588)4226174-0 gnd Reglerentwurf (DE-588)4177447-4 gnd Modalanalyse (DE-588)4226177-6 gnd H-unendlich-Kontrolltheorie (DE-588)4488490-4 gnd Flexible Struktur (DE-588)4399238-9 gnd |
| topic_facet | Dinâmica das estruturas Structural control (Engineering) Structural dynamics Linearquadratische Kontrolltheorie Strukturdynamik Reglerentwurf Modalanalyse H-unendlich-Kontrolltheorie Flexible Struktur |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=012832251&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT gawronskiwodek advancedstructuraldynamicsandactivecontrolofstructures AT gawronskiwodek dynamicsidentificationandcontrolofstructures |