Robust and fast backbone tracking via phase-locked loops
Phase-locked loops are commonly used for shaker-based backbone tracking of nonlinear structures. The state of the art is to tune the control parameters by trial and error. In the present work, an approach is proposed to make backbone tracking much more robust and faster. A simple PI controller is proposed, and closed-form expressions for the gains are provided that lead to an optimal settling of the phase transient. The required input parameters are obtained from a conventional shaker-based linear modal test, and an open-loop sine test at a single frequency and level. For phase detection, an adaptive filter based on the LMS algorithm is used, which is shown to be superior to the synchronous demodulation commonly used. Once the phase has locked, one can directly take the next step along the backbone, eliminating the hold times. The latter are currently used for recording the steady state, and to estimate Fourier coefficients in the post-process, which becomes unnecessary since the adaptive filter yields a highly accurate estimation at runtime.The excellent performance of the proposed approach is demonstrated for a doubly clamped beam undergoing bending-stretching coupling leading to a 20 percent shift of the lowest modal frequency. Even for fixed control parameters, designed for the linear regime, only about 100 periods are needed per backbone point, also in the nonlinear regime. This is much faster than what has been reported in the literature so far.