デルタオペレータ表現に基づく単純適応制御系の構成とそのDDサーボ系への適用

概要

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Simple adaptive control (SAC), one of the newly approved robust adaptive control methods, has recently been attracting increased interest for it's simplified adaptive controller structure and attractive performance characteristics, such as robustness to a class of bounded disturbances and unmodelled dynamics. To date, the design procedures of SAC have mostly been discussed with respect to the case of continuous-time systems. As to discrete-time SAC systems, less attention has been paid to the physical realizability of the control system and the nonminimum phase zeros arising from sampling rate. This paper deals with the basic stability problem and the robustness of the SAC systems described by a delta operator model. The advantages of the new digital algorithm based on a delta operator representation include the physical realizability of the adaptive controller and applicability to systems with rapid sampling. The experimental results demonstrate the stability and robustness of implementation of the proposed algorithm with the electromechanical servo system using the direct drive (DD) motor.
社団法人日本機械学会の論文
1992-09-25