Vibration Optimal Control And Actuator Optimization Of Flexible Tensegrity Structures

This paper deals with the tensegrity structures. The vibration control and actuatoroptimization of the tensegrity structures are studied. The main contents and outcomesare as follows:1. The finite element model of a tensegrity structure is established, and modalanalysis is carried out. Then the modal frequency is calculated after the extraction of themass and stiffness matrix of the finite element model. Vibration test of the experimentalstructure related with the finite element model is done. The validity of the finite elementmodeling method of the tensegrity structure is proved by a comparison of the ANSYSanalysis results and the calculated modal frequency with the experimental results.2. A four-stage tensegrity structure is taken as an example. The finite elementmodel of the structure is established and the state space control equation is deducedaccording to the dynamic equation of the structure. The linear quadratic regulator (LQR)optimal control is employed to the vibration control of the tensegrity structure. Thesimulation and analysis results indicate that the LQR control method plays an importantrole in the vibration suppression of the tensegrity structure.3. Based on the optimal vibration control criterion of the tensegrity structure,which means the energy of the system is minimal when the actuators placed in anydifferent positions, the simulated annealing algorithm is introduced to analyse theinfluence of the actuators position to the vibration control of the structure, theoptimization results show that the position of the actuators is of great importance to thevibration control of the tensegrity structure.