Control of an Over-Actuated Single-Degree-of-Freedom Excitation System

Abstract

This paper provides results of a laboratory experiment designed to illustrate the theoretical control considerations for an over-actuated excitation system. The experiment is based on control of a beam pinned at one end providing a single rotational degree of freedom and excited by two electrodynamic actuators. Control is achieved through implementation of two different control reference techniques: (1) reference based on linear acceleration autospectral densities (ASD) and cross-spectral densities (CSD) using linear accelerometer feedback and (2) reference based on an angular acceleration ASD using estimates of angular acceleration as feedback. Correlations to the theoretical based predictions were conducted based on common measurements of both linear acceleration and estimates of angular acceleration acquired during each trial.