フィードバック制御にμ-シンセシスを用いた2自由度制御系による動電式多軸振動台のロバスト制御(機械力学,計測,自動制御)

概要

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In this paper, we propose a method to apply a Two-Degree-of-Freedom control with adaptive filter as such attempt of controlling a Multi-Axis Electro-Dynamic shaking system has no requirement for iteration control and has real-time performance. An adaptive filter is inserted in series to a feed-forward block and is structured to compensate difference between a nominal model and an actual plant. We first introduce an ideal mathematical model and uncertainty weighting function for the system, and a feedback controller is designed using μ-synthesis. And we constitute Two-Degree-of-Freedom controller for a purpose to improve transient response. Then, an adaptive filter is added when control performance still can't be satisfied. Lastly, we inspect the performance of the controller by experiment using an actual equipment loaded with a resonant specimen. An experiment without adaptive filter is done to show stability of the system. And the proposed controller is confirmed to have achieved a superior performance by using the adaptive filter.
2002-09-25