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A Digital Controller for Horizontal Angular Motion of the FJSRL Seismic Isolation Platform.
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING
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This study is part of a continuing effort to develop a stochastic controller for the angular motion about a horizontal axis of the Seismic Isolation Platform at the Frank J. Seiler Research Laboratory. The design of a digital controller is investigated based on the assumption that a Kalman filter would provide sufficiently accurate estimations of the states of the system. The design specifications are to maintain angular position within or - 0.001 arcseconds and angular velocity within or - 1.6 x 0.00001 arcseconds per second for a step function of 1.25 ft-lbs applied to the platform. Discrete models for the platform and two actuators are developed. The discrete models are used to design a controller for each actuator. A controller for the pneumatic actuator is designed to force the platform to a zero steady-state position. An optimal controller, which regulates the closed pneumatic loop, is designed for the shaker actuator. A theoretical evaluation of the control system shows angular position is maintained within or - 2.81 x 0.0001 arcseconds and angular velocity has a peak overshoot of 2.24 x 0.01 arcseconds per second but settles to within the design specification in 0.08 seconds.
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