Active Control of a Tensegrity Structure

Structural Systems and Control Laboratory

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    The aim of this experiment is to illustrate the active control of vibrations in a three-stage tensegrity structure. Vibrations are applied to the structure via a shaker table on which the structure is placed. Piezoelectric actuators and sensors are used to control the structure with Dspace hardware on which various controllers can be implemented.

    Tensegrity structures are a special class of lightweight truss structures, where all truss elements are axially loaded and tensile truss elements are made of strings.  Experimental data is obtained by placing a three stage tensegrity structure on a shaker table and measuring frequency responses between the moving support and multiple accelerometers placed on the structure. An identified Single-Input-Multiple-Output (SIMO) linear model is found by a SIMO curve fitting of the measured frequency responses. To complete the dynamic analysis, the estimated model along with the identified resonance modes and damping coeficients are used to compare and fine tune a finite element based model.

For more details refer to the following publications :

Experimental Hardware


Modal Analysis

  Modes of vibration 

  Accelerometer placement 

  Frequency response of structure without control

Control Problem

Brief description of the control strategy.

Frequency response with controller.