ホッパーの重量制御 : 最小次元オブザーバを用いた LQ 制御

概要

論文の詳細を見る
In this report, we discussed the weight control of a hopper by using a microcomputer. As for the control algorithm, we used the ”LQ Control” method. Applying the LQ Control algorithm, we estimated the unmeasurable state variables by using ”Minimal Order Observer”. The following results became clear through the experiment and the simulation. 1) If we use ”LQ Control” method as for the control algorithm, the response waves show a good behaviour with an increase in the value of W_<1x> and with a decrease in the value of W_<2x> and W_<3x>. 2) In the case of change of the set point value, if we use ”MOO” as the observer, the response waves show a good behaviour. 3) If we use ”FTSO” as the observer, the off-set disappears for the external disturbance input, but if we use ”MOO”, the off-set remains.