This paper presents a model and analysis for a flexible link with non-collocations of sensors and actuators. It shows the changes in the system dynamics and the appearance of zeroes in the right-plan complex, turning ...This paper presents a model and analysis for a flexible link with non-collocations of sensors and actuators. It shows the changes in the system dynamics and the appearance of zeroes in the right-plan complex, turning the system a non-minimum phase system. The performance of the PID (proportional-integral-derivative) and LQR (linear quadratic regulator) controller are discussed considering the zero dynamics of the system in three points of special interest: (I) the collocated case, when the sensor is in the base of the link; (2) the critical case, where the system starts to present zeroes in the right-plan complex and (3) the limit case, when the sensors are in the end point of the flexible link. Investigation for a simple rigid-flexible model with one mode, in the three cases, the PID and LQR controller performance are damage. To deal with this kind of problem, new control techniques should be developed.展开更多
文摘This paper presents a model and analysis for a flexible link with non-collocations of sensors and actuators. It shows the changes in the system dynamics and the appearance of zeroes in the right-plan complex, turning the system a non-minimum phase system. The performance of the PID (proportional-integral-derivative) and LQR (linear quadratic regulator) controller are discussed considering the zero dynamics of the system in three points of special interest: (I) the collocated case, when the sensor is in the base of the link; (2) the critical case, where the system starts to present zeroes in the right-plan complex and (3) the limit case, when the sensors are in the end point of the flexible link. Investigation for a simple rigid-flexible model with one mode, in the three cases, the PID and LQR controller performance are damage. To deal with this kind of problem, new control techniques should be developed.