Controllability and Observability of Distributed Gyroscopic Systems

1991 ◽  
Vol 113 (1) ◽  
pp. 11-17 ◽  
Author(s):  
B. Yang ◽  
C. D. Mote

Controllability and observability of a class of distributed gyroscopic systems under pointwise actuators and sensors are presented. The equations of motion are cast in a state space form, in which orthogonality of the eigenfunctions is obtained. The controllability and observability conditions in finite dimensions are obtained for a model representing a truncated modal expansion of the distributed system. In infinite dimensions the controllability and observability conditions are obtained through semi-group theory. In both the finite and infinite dimensional models the conditions of controllability and observability are evaluated through the eigenfunctions in an explicit form. The minimum number of actuators and minimum number of sensors needed to control and observe the system are determined by the largest eigenvalue multiplicity. The results are illustrated on vibration control of the axially moving string and the rotating circular plate.

1991 ◽  
Vol 44 (11S) ◽  
pp. S279-S284 ◽  
Author(s):  
J. A. Wickert ◽  
C. D. Mote

Through a convective acceleration component, the equations of motion for axially-moving materials are skew-symmetric in the state space formulation, so that the response problem is best analyzed within the broader context of continuous gyroscopic systems. With particular application to the prototypical traveling string and beam models, a modal analysis that associates degrees of freedom with the complex state eigenfunctions and their conjugates is presented. This procedure is well-suited for harmonic excitation sources, and in some instances, it is more convenient than previous methods which decompose the modal coordinates, eigenfunctions, and generalized forces into real and imaginary components. Also from the state space perspective, Rayleigh’s quotient for gyroscopic systems provides a variational method for determining the eigensolutions of axially-moving materials. Ritz discretization of the quotient can make effective use of the speed-adapting modes of the traveling string and beam models as they are rich in phase, as well as amplitude, content.


2019 ◽  
Vol 374 (2) ◽  
pp. 823-871 ◽  
Author(s):  
Simon Becker ◽  
Nilanjana Datta

Abstract By extending the concept of energy-constrained diamond norms, we obtain continuity bounds on the dynamics of both closed and open quantum systems in infinite dimensions, which are stronger than previously known bounds. We extensively discuss applications of our theory to quantum speed limits, attenuator and amplifier channels, the quantum Boltzmann equation, and quantum Brownian motion. Next, we obtain explicit log-Lipschitz continuity bounds for entropies of infinite-dimensional quantum systems, and classical capacities of infinite-dimensional quantum channels under energy-constraints. These bounds are determined by the high energy spectrum of the underlying Hamiltonian and can be evaluated using Weyl’s law.


Author(s):  
P. E. Nikravesh ◽  
G. Gim

Abstract This paper presents a systematic method for deriving the minimum number of equations of motion for multibody system containing closed kinematic loops. A set of joint or natural coordinates is used to describe the configuration of the system. The constraint equations associated with the closed kinematic loops are found systematically in terms of the joint coordinates. These constraints and their corresponding elements are constructed from known block matrices representing different kinematic joints. The Jacobian matrix associated with these constraints is further used to find a velocity transformation matrix. The equations of motions are initially written in terms of the dependent joint coordinates using the Lagrange multiplier technique. Then the velocity transformation matrix is used to derive a minimum number of equations of motion in terms of a set of independent joint coordinates. An illustrative example and numerical results are presented, and the advantages and disadvantages of the method are discussed.


Author(s):  
Keith W. Buffinton

Abstract Presented in this work are the equations of motion governing the behavior of a simple, highly flexible, prismatic-jointed robotic manipulator performing repetitive maneuvers. The robot is modeled as a uniform cantilever beam that is subject to harmonic axial motions over a single bilateral support. To conveniently and accurately predict motions that lead to unstable behavior, three methods are investigated for determining the boundaries of unstable regions in the parameter space defined by the amplitude and frequency of axial motion. The first method is based on a straightforward application of Floquet theory; the second makes use of the results of a perturbation analysis; and the third employs Bolotin’s infinite determinate method. Results indicate that both perturbation techniques and Bolotin’s method yield acceptably accurate results for only very small amplitudes of axial motion and that a direct application of Floquet theory, while computational expensive, is the most reliable way to ensure that all instability boundaries are correctly represented. These results are particularly relevant to the study of prismatic-jointed robotic devices that experience amplitudes of periodic motion that are a significant percentage of the length of the axially moving member.


2021 ◽  
Author(s):  
Konstantina Ntarladima ◽  
Michael Pieber ◽  
Johannes Gerstmayr

Abstract The present paper addresses axially moving beams with co-moving concentrated masses while undergoing large deformations. For the numerical modeling, a novel beam finite element is introduced, which is based on the absolute nodal coordinate formulation extended with an additional Eulerian coordinate to represent the axial motion. The resulting formulation is well known as Arbitrary Lagrangian Eulerian (ALE) method, which is often used for axially moving beams and pipes conveying fluids. As compared to previous formulations, the present formulation allows us to introduce the Eulerian part by an independent coordinate, which fully incorporates the dynamics of the axial motion, while the shape functions remain independent of the beam coordinates and are thus constant. The proposed approach, which is derived from an extended version of Lagrange’s equations of motion, allows for the investigation of the stability of axially moving beams for a certain axial velocity and stationary state of large deformation. A multibody modeling approach allows us to extend the beam formulation for co-moving discrete masses, which represent concentrated masses attached to the beam, e.g., gondolas in ropeway systems, or transported masses in conveyor belts. Within numerical investigations we show that a larger number of discrete masses behaves similarly as the case of (continuously) distributed mass along the beam.


2021 ◽  
Vol 34 (2) ◽  
pp. 141-173
Author(s):  
Hirofumi Osada

We explain the general theories involved in solving an infinite-dimensional stochastic differential equation (ISDE) for interacting Brownian motions in infinite dimensions related to random matrices. Typical examples are the stochastic dynamics of infinite particle systems with logarithmic interaction potentials such as the sine, Airy, Bessel, and also for the Ginibre interacting Brownian motions. The first three are infinite-dimensional stochastic dynamics in one-dimensional space related to random matrices called Gaussian ensembles. They are the stationary distributions of interacting Brownian motions and given by the limit point processes of the distributions of eigenvalues of these random matrices. The sine, Airy, and Bessel point processes and interacting Brownian motions are thought to be geometrically and dynamically universal as the limits of bulk, soft edge, and hard edge scaling. The Ginibre point process is a rotation- and translation-invariant point process on R 2 \mathbb {R}^2 , and an equilibrium state of the Ginibre interacting Brownian motions. It is the bulk limit of the distributions of eigenvalues of non-Hermitian Gaussian random matrices. When the interacting Brownian motions constitute a one-dimensional system interacting with each other through the logarithmic potential with inverse temperature β = 2 \beta = 2 , an algebraic construction is known in which the stochastic dynamics are defined by the space-time correlation function. The approach based on the stochastic analysis (called the analytic approach) can be applied to an extremely wide class. If we apply the analytic approach to this system, we see that these two constructions give the same stochastic dynamics. From the algebraic construction, despite being an infinite interacting particle system, it is possible to represent and calculate various quantities such as moments by the correlation functions. We can thus obtain quantitative information. From the analytic construction, it is possible to represent the dynamics as a solution of an ISDE. We can obtain qualitative information such as semi-martingale properties, continuity, and non-collision properties of each particle, and the strong Markov property of the infinite particle system as a whole. Ginibre interacting Brownian motions constitute a two-dimensional infinite particle system related to non-Hermitian Gaussian random matrices. It has a logarithmic interaction potential with β = 2 \beta = 2 , but no algebraic configurations are known.The present result is the only construction.


Author(s):  
Jinhao Qiu ◽  
Junji Tani

Abstract Equations of motion for multi-layer piezoelectric cylindrical shells and the equations of the integrated piezoelectric sensors are derived. The state equation is obtained by solving the equations of motion with modal expansion method. The feedback control, feedforward control, and their combination are applied in the control of forced vibration of the piezoelectric cylindrical shell with integrated sensor and actuators. The simulation and experimental results show that good control effectiveness can be obtained by using the integrated piezoelectric sensor and actuators in conjunction with the combination of feedback and feedforward control methods.


Author(s):  
Andreas Kugi ◽  
Kurt Schlacher ◽  
Hans Irschik

Abstract This contribution is focused on a straight composite beam with multiple piezoelectric layers under the action of an axial support motion. In the sense of v. Karman a nonlinear formulation for the axial strain is used and the equations of motion are derived by means of the Hamilton formalism. This system turns out to be a special class of infinite dimensional systems, the so called Hamilton AI-systems with external inputs. In order to suppress the excited vibrations two infinite control laws are proposed. The first one is an infinite PD-feedback law and the second one is based on the nonlinear H∞-design, where an exact solution of the corresponding Hamilton Jacobi Isaacs equation is presented. The necessary quantities for the control laws can be measured by appropriate space-wise shaped sensors and the asymptotic stability of the equilibrium point can be proved.


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