フィードバック系と一体化した最適軌道による振動制御 : 第1報,残留振動の抑制を目的として

概要

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The method of mathematical programming is usually used for vibration control of a flexible structure concerned with motion, in order to suppress its vibration. When the structure is well modeled, this method is very effective. But, generall, there are some errors involved in the modeling of the structure ; therefore robustness becomes an important problem. Moreover, when the vibration under the motion is controlled by a feedback system, the effect is not as good as the expectation, because of a restriction of feedback gain due to the stability problem. In the present paper, the state feedback gain is obtained through LQ control theory on the premise that the state feedback system is used with mathematical programming. For this feedback system, an optimal vibration control method of a flexible structure based on mathematical programming is proposed. The proposed method makes the robustness stronger than that of optimal motion derived only from mathematical programming. The validity of the proposed method is demonstrated by both simulation and experiment.
一般社団法人日本機械学会の論文
1993-04-25