離散時間適応サーボ系の一設計法とその空気圧サーボ系への応用(機械力学,計測,自動制御)

概要

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Some practical systems are expected to track reference signals with unknown properties. For such systems, we propose a new design method of discrete-time adaptive servo systems. The method is for SISO-LTI systems. In the method, two types of Diophantine equations are used ; one is for designing feedfoward controllers, the other is for feedback ones. The feedfoward controllers are adjusted to the reference signals, while the feedback ones are adjusted to input and output signals of plants. Although the method requires unstable plant zeros to be known, we can use the idea of limiting zeros when sampling period is sufficiently small. Hence the method is applicable to most of unknown plants in continuous-time domain. The method considers unknown deterministic disturbances also. Application results to a pneumatic servo system show the effectiveness of the method. The results are compared with those of PID control systems.
2003-01-25