周波数変動外乱オブザーバを用いた振動制御系の実現(機械力学,計測,自動制御)

概要

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Recently, requirement for performance specifications of the control systems has been very severe with the advance of industry. For instance, in the case of control of the light weighted train, vibration caused by an influence on a disturbance and resonance of flexible body should be reduced not only at a single frequency but also on the wide range of frequency. For this problem, disturbance observer has been used traditionally. However, in many cases of industrial systems such that the light weighted train, disturbance frequency is varied for some frequency range. Therefore, it may be difficult to reduce the adverse effect of the disturbance by the use of the traditional disturbance observer. In this study, we implement the vibration suppression control system using disturbance observer to cope with frequency variation to reduce the adverse effects of periodic disturbances. In order to demonstrate the usefulness of the proposed disturbance observer, we applied it to the vibration control system for a flexible beam where disturbance force whose frequency is varied for some range is imposed. It can be shown by numerical simulations and experiments that the proposed control scheme has superior performance of disturbance reduction as compared with the traditional disturbance observer and the H_∞ controller.
2002-10-25