共振周波数の変動を考慮した最適ロバストフィードフォワード制御入力の導出とクレーンへの応用(機械力学,計測,自動制御)

概要

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In high-speed mechanical transfer systems, inappropriate command inputs can generate the vibration of plant, and make the control performance worse. It is therefore important to study command inputs, namely feedforward control, in order to almost eliminate the residual vibration. In this paper, an optimal robust feedforward control input is proposed against the perturbation of resonant frequency concerning the single-desree-of-freedom system. Proposed robust control input is represented by higher-power series of time than that of the analytical solution designed for nominal model. The control input function is solved by satisfying the boundary condition at the initial time and the final time, and by minimizing the performance index. Performance index given in this paper evaluates the square of amplitude of the residual vibration in a phase plane, and it is corresponded to total energy of all the range of the perturbation of resonant frequency. The usefulness of robust feedforward control proposed in this paper is demonstrated by experiments of an overhead traveling crane system with perturbations of the rope length.
一般社団法人日本機械学会の論文
2003-06-25