解析的アプローチに基づく構造系と制御系の同時最適化 : DVDFB制御則の場合(機械力学,計測,自動制御)

概要

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This paper considers a simultaneous optimization problem of structure and control systems. We parameterize all passive parameters of the mechanical structure such that the parameters work in the control system like static output feedback gains. Using this parameterization, we define a performance index, which consists of the quadratic term of LQ regulator and the quadratic term of dynamical forces of the structure. When DVDFB (Direct Velocity and Displacement Feedback) control law is applied to the class of a certain plant, it is shown analytically in this paper that the performance index can be expressed as a positive function of the structure parameters, which can be adjusted. This result comes from that DVDFB control law is one solution of the LQ regulator with a certain weighting function. A numerical example is given to illustrate how to use the result for practical design optimizing. In the simultaneous optimization problem for which an analytical solution can hardly obtained except for some cases, this paper shows clearly the relations between the performance index and the structure parameters under the class of the limited plant and control law. In this paper, it is shown that we can analytically obtain the structure parameters, which gives a global solution of the performance index under the defined simultaneous optimization problem.
社団法人日本機械学会の論文
2002-06-25