インパルス応答情報を用いたディジタル式最適フィードバック制御系の設計と振動制御への応用

概要

論文の詳細を見る
Vibration control problem is important in mechatronics, aerospace engineering, civil engineering and other engineering fields. The control scheme of this problem is changing from passive control to active control that applies to modern control theory aggressively. In this paper, we propose the optimal output feedback regulator based only on systems impulse response that eliminates the influence of a transient disturbance. Since the controller is constructed as a Finite-Impulse-Response filter, the computation for designing the optimal one is reduced to solving the discrete-time Wiener-Hopf equation. This equation can be solved recursively by increasing the order of the system via the fast algorithm proposed here. Furthermore, solvable condition of the equation is cleared and stability of the feedback system is guaranteed. The effectiveness of the proposed method is verified experimentally to apply the control system of grab-swing elimination of the travelling crane
1993-12-25