ボード線図とコ・クアド線図に基づくパラメータ推定の相違

概要

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In order to improve the simulation system and develop the control system with high performance, the dynamical model of the controlled object must precisely be derived. Ordinarily, the parameters are estimated by using the characteristic point data on Bode diagram. As is well-known, this method is widely used in the production field. Meanwhile, the co-quad diagram based parameter estimation method was also known. It has been said that this method can derive more precise modal parameters than the conventional method can. However, an explanation for the theoretical background is insufficient. In this paper, this reason clarified by introducing the sensitivity function. Firstly the frequency response curve both of Bode diagram and co-quad diagram are shown for the compliance, the mobility, and the inertance. Next the parameter estimation formulas are derived by using co-quard diagram. Secondly, by introducing the sensitivity function, it is shown that the co-quad based method has better performance from the parameter estimation point of view than the conventional one has. Finally, the parameter estimation method based on co-quad diagram is applied to the measured inertance response and it is confirmed that the realistic parameters can derive in comparison with these from Bode diagram.
公益社団法人精密工学会の論文
1997-04-05