Dynamics and control of a planar truss actuator

Recent demands in large space structure technology have suggested the use of active control actuators integral to a structures' construction. The concept of a 3-D (triangular cross-sectioned) active truss is presented. The linear equations of motion for one plane of the truss are derived. A model for a generic flexible beam is then appended to the planar truss model. A linear time-invariant optimal control law is found, followed by a presentation of an experimental planar truss built to test the concept. Physical parameters are then substituted into the dynamic model and several sets of control gains are found. The "Kalman'' gains are applied to the experimental structure. Experimental results are compared to expected theoretical results with good (30%) correlation. Conclusions are drawn and suggestions are made for further research.