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A N Intelligent Control Approach Tsou, Po-Yu, Ph.D Order Number 9421027 On-line damage identification and motion control of adaptive structures: An intelligent control approach Tsou, Po-Yu, Ph.D. The Ohio State University, 1994 Copyright ©1994 by Tsou, Po-Yu. All rights reserved. UMI 300 N. Zeeb Rd. Ann Arbor, MI 48106 On-line Damage Identification and Motion Control of Adaptive Structures: An Intelligent Control Approach DISSERTATION Presented in Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the Graduate School of The Ohio State University By Po-Yu Tsou, B.S., M.S. $ $ $ + $ The Ohio State University 1994 Dissertation Committee: Approved by M.-H. Herman Shen R. K. Yedavalli Adviser H. A. Oz Department of Aeronautical Y. F. Zheng and Astronautical Engineering © Copyright by Po-Yu Tsou 1994 This is dedicated to my parents and my wife. ii Acknowledgements I wish to thank Professor Herman Shen’s continuous guidance, encouragement and support throughout my disseration work. Because of him, I have such a wonderful opportunity and enjoy working on this subject. With his tireless caring and extensive advices, the benefits from this study are not only academic but also spiritual. I would also like to thank the committee members, Professor Rama K. Yedavalli, Professor Hayrani A. Oz of the Aeronautical and Astronautical Engineering Department and Professor Yuan F. Zheng of the Electrical Engineering Department, for their academic instructions and valuable comments and suggestions on this work. During the graduate study period, the friendships and assistances from my col­ leagues are truely gratiful. Thanks to Dr. Yong Liu, Yiping Yao, C.R. Ashokkumar, Keiji Yano, Yangyao Niu, and Anjali Diwekar. I want to express my affective appreciation to my parents and my dear wife, Limei. Without their devoted love and faithful support, this disseration cannot be completed. This research work is partially supported by the 1991 Research Initiation Award of the Engineering Foundation, the Wright-Patterson Air Force Base, the Office of the Vice President for Research at the Ohio State University and the Department of Aeronautical and Astronautical Engineering. Vita July 3, 1964 ........................................................... Born - Taichung, Taiwan, R.O.C. June 1986 ............................................................... B.S. Aeronautical and Astronautical Engineering, National Cheng Kung University, Taiwan June 1988 ............................................................... M.S. Aeronautical and Astronautical Engineering, National Cheng Kung University, Taiwan 1990-1991 .................................. ............................ Graduate Student, The Ohio State University 1992-August 1993 ................................................Graduate Research Assistant, The Ohio State University 1994-present ......................................................... Graduate Teaching Assistant, The Ohio State University Publications Poyu Tsou, and M.-H. Herman Shen, “Structural Damage Detection and Identifica­ tion Using Neural Networks,” AIAA Journal, 32(1):176-183, Jan. 1994. Poyu Tsou, and M.-H. Herman Shen, “Design of Fuzzy Controller for Trajectory Tracking of Adaptive Truss Structures,” Smart Materials and Structures. Poyu Tsou, and M.-H. Herman Shen, “Structural Damage Detection and Identifica­ tion Using Neural Networks,” Proceedings of 34th Structures, Structural Dynamics and Material Conference , AIAA/ASME/ACSE/AHS/ACS, La Jolla, CA, 3515-3519, Apr. 1993. Poyu Tsou, and M.-H. Herman Shen, “Fuzzy Control for Pursuing Problem of an Adaptive Planar Structure,” 1994 ACM Symposium of Applied Computing, Mar. 1994. Poyu Tsou, and M.-H. Herman Shen, “A Neural Net Based Damage Identifica­ tion Method for Discrete Structural Systems,” Pacific International Conference on Aerospace Science and Technology, Taiwan, 1367-1374, Dec. 1993. Fields of Study Major Field: Aeronautical and Astronautical Engineering Studies in: Structures Prof. M.-H. H. Shen Controls Prof. R. K. Yedavalli Dynamics Prof. H. A. Oz Table of Contents DEDICATION ................................................................................................................... ii ACKNOWLEDGEMENTS ........................................................................................... iii VITA ................................................................................................................................... iv LIST OF TABLES ............................................................................................................ viii LIST OF FIGURES ........................................................................................................ ix CHAPTER PAGE I Introduction ................................................................................................................. 1 1.1 Background Information of Adaptive S tructure ................................... 1 1.2 Review of Intelligent C ontrol ..................................................................... 4 1.3 Research Objectives ...................................................................................... 9 1.4 Dissertation O utline ........................... .......................................................... 10 II Overview of an Intelligent Control S; ..tern ....................................................... 13 2.1 Architecture of the intelligent control system ...................................... 14 2.2 Detailed descriptions of functional modules ........................................... 17 2.3 Information flow p a t h .................................................................................. 23 III Structural Damage Detection and Identification ............................................. 26 3.1 Review of Neural N e tw o rk s ........................................................................ 29 3.2 Three DOF System ........................................................................................ 33 3.2.1 Single Damage C a s e ....................................................................... 35 3.2.2 Multiple Damage Case .................................................................... 37 3.3 Kabe’s M o d e l .................................................................................................. 43 3.3.1 Dyn&mic Residual M ethod ............................................................. 44 3.3.2 Simulation Result .......................................................................... 46 3.4 Truss S tru c tu re .............................................................................................. 52 IV Fuzzy Logic Control D esign ................................................................................... 58 4.1 Fuzzy Logic Control T h e o ry ............................................... 61 4.2 Kinematics of Adaptive Structures ............................................ 63 4.3 Fuzzy Controller D esign .............................................................................. 66 4.4 Illustrative Examples .................................................................................... 71 4.4.1 Planar Truss Structure ................................................................... 71 4.4.2 Rendezvous/Docking Problem ...................................................... 75 4.4.3 Target Pursuing Problem ............................................................ 76 4.4.4 Trajectory Tracking Problem ...................................................... 78 4.4.5 Effect of various g ain s ................................................................... 82 4.4.6 Robustness of fuzzy control system ............................................ 84 4.4.7 Effect of Inference Strategy ......................................................... 86 4.5 C lo s u r e ............................................................................................................ 87 V Conclusions and Future Research ........................................................................ 92 APPENDICES A Samples of data used for damage identification neural netw orks .............. 98 B Computer Codes ...................................................................................................... 100 BIBLIOGRAPHY ............................................................................................................ 119 vii List of Tables TABLE PAGE 1 Individual spring damage results .................................................................... 36 2 Fuzzy rules table for SDMs controller .......................................................... 74 List of Figures FIGURE PAGE 1 Schematic architecture of the intelligent control system ......................... 15 2 Management and Organization Level ........................................................... 18 3 Coordination Level ............................................................................................ 20 4 Execution Level ................................................................................................... 22 5 Backpropagation neural network ..................................................................... 30 6 Three DOF Mass-Damper-Spring System .................................................... 34 7 Neural network outputs of Case Kmix ........................................................... 40 8 Neural network outputs of Case K m O l ....................................................... 41 9 Neural network outputs of Case K m 45 ......................................................
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