モデル追従形サーボ系と2自由度系の類似点と相違点

概要

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We can recognize that both a model-following servo control system and 2-degree-of-freedom control system are constructed of the stable closed loop for the controlled object, the model, and the feedforward path from model to closed loop. In spite of the structural similarity, different names are attached to the individual control systems. Since the mathematical tools used for the formulation are the state equation and transfer function matrix, respectively, the approaches to solving the problem are different. However, it is inconvenient for us to potentially cause misunderstanding due to the entirely different control methods. Hence, clarifying the relationship between the model-following servo control system and 2-d. o. f, control system is a very significant matter in the case of application to a real plant. In this paper, the design methods of the model-following servo control system and 2-d. o. f. control system are each examined. Then, similar and different points are clarified. Next, the way of convergence of the control output into the model given by the designer is compared using the frequency response. In the model-following servo system, the dimensions of the model are not taken into consideration. However adequate convergence of the control output into the model is shown by using an example, if the dimensions of the model are restricted.
一般社団法人日本機械学会の論文
1991-09-25