摘要：AbstractThe impact of elastic modes limits the performance of position control of elastic bodies in a significant way. Local dampers are a typical way to suppress this issue, but lead to non-proportional damping and complex oscillation modes with varying nodal lines. To this end, the placement of the sensors is of major importance in high-precision applications. In this contribution, we present an optimal sensor placement algorithm which uses Gramian-based observability measures to overcome this issue. Singular sensing configurations with respect to the pose are avoided by considering the mappings’ local invertibility explicitly. Furthermore, we are in the position to cope with the highly relevant issue of constrained installation space and to handle complex 2D and 3D geometries by using model order reduction techniques. By means of an illustrative example, the significantly reduced influence of the elastic deformations on the controller is demonstrated at last.
