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Research Papers

Vibration Suppression of an Underactuated Dynamic System Using Virtual Actuators

[+] Author and Article Information
A. M. Khoshnood

Assistant Professor
Aerospace Engineering Department,
K. N. Toosi University of Technology,
P.O. Box 16765-3381,
Tehran 16569-83911, Iran
e-mail: khoshnood@kntu.ac.ir

I. Azad

Aerospace Engineering Department,
K. N. Toosi University of Technology,
P.O. Box 16765-3381,
Tehran 16569-83911, Iran
e-mail: eavfreeman1989@gmail.com

S. M. Hasani

Aerospace Engineering Department,
K. N. Toosi University of Technology,
P.O. Box 16765-3381,
Tehran 16569-83911, Iran
e-mail: smh1384@gmail.com

1Corresponding author.

Contributed by the Technical Committee on Vibration and Sound of ASME for publication in the JOURNAL OF VIBRATION AND ACOUSTICS. Manuscript received March 15, 2016; final manuscript received June 28, 2016; published online August 12, 2016. Assoc. Editor: Izhak Bucher.

J. Vib. Acoust 138(6), 061006 (Aug 12, 2016) (8 pages) Paper No: VIB-16-1123; doi: 10.1115/1.4034082 History: Received March 15, 2016; Revised June 28, 2016

Sloshing is one of the critical problems in aerospace vehicles with liquid containers. Motion of the liquid in resonance situations can degrade the stability and performance of attitude control systems. Two important characteristics of this time varying phenomenon are sensorless and underactuated properties which lead to difficulty of attitude control system design. In this paper, a new technique based on soft sensor and virtual actuator is used to suppress the effects of fuel sloshing in an aerospace launch vehicle (ALV). For this purpose, a nonlinear dynamic model of the vehicle with mechanical model of the fuel sloshing is considered as a multibody dynamic system. The preliminary attitude control system of the vehicle is extended using the new vibration suppression technique and a numerical simulation of the nonlinear model is carried out. Results of the simulation show that the undesired effects of the fuel sloshing are effectively decreased using the proposed vibration suppression technique.

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Figures

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Fig. 1

Schematic of the virtual actuator strategy

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Fig. 2

Vectors and coordinates defined for modeling the fuel sloshing

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Fig. 3

Schematic of the virtual actuator strategy for the ALV

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Fig. 4

Closed-loop control system of the vehicle as a virtual model

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Fig. 5

Closed-loop control system of the sloshing in the virtual model

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Fig. 6

Flowchart of the soft sensor used for estimation of the sloshing frequency

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Fig. 7

Frequency response of two channels filter bank

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Fig. 8

Closed-loop control system of the virtual actuator strategy

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Fig. 9

True and estimated frequency of the fuel sloshing

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Fig. 10

Angular velocity of the vehicle pitch channel with and without vibration controller

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Fig. 11

Actual actuator deflection of the vehicle pitch channel with and without vibration controller

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Fig. 12

The correction part of the control input generated based on the virtual actuator (δc)

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Fig. 13

Displacement of the fuel sloshing mass with and without vibration controller

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Fig. 14

The frequency estimation performance in the presence of a zero mean white noise

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