運動を伴う柔軟構造物の油圧アクチュエータを用いた振動制御 : 制御パラメータの位相補正を用いたLQ制御手法

概要

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In this investigation, the purpose is to drive flexible structures quickly and accurately by controlling their vibration by means of hydraulic actuators. Generally the modeling of hydraulic actuators is difficult. Thus a simple method of modeling for hydraulic actuators is shown here. Next, the low-frequency range of the signals obtained by integrating the acceleration are removed by high-pass filters. The high-frequency range is removed by low-pass fillters in order to avoid spillover. These filters cause a phaseshift of the state variable signals in the frequency range of interest. Therefore, in this study it is proposed that the phaseshift due to the filters is compensated by modifying the feedackgains which are obtained by Linear Quadratic control theory without filer modeling, and the controller becomes stable. Moreover, this method is extended to gain modification for the Multi-Degrees-of-Freedom system through the use of the decoupling technique of the structural vibration with modal analysis. With this method, it will be possible to easily apply LQ control theory to practical machines. The validity of this method is shown by simulation and experiment.
一般社団法人日本機械学会の論文
1993-12-25