水圧サーボモータシステムのロバスト制御に関する性能評価 : 第3報適応制御手法による制御系設計およびこれまでの制御性能の比較

概要

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In previous two reports, the H∞ controller, the disturbance-observer-type controller and the sliding mode controller for rotational angle and velocity control were examined. In this paper as the final report, a model reference adaptive control (MRAC) was applied to a water hydraulic servo motor system. The MRAC system can admit parameter uncertainties by tuning the controller parameters depending on the error between a plant output and the reference signal given by the designer. Moreover in this paper, all control results were compared on the steady state error, the percent overshoot and the settling time as performance indices.
社団法人　日本フルードパワーシステム学会の論文
2007-05-15