多自由度系の振動絶縁のLQG制御とH^∞制御

概要

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This paper deals with a problem of vibration isolation control for multi-degees-of-freedom systems by applying the optimal control theory using a Kalman filter and H^∞ control theory. A four-degees-of-freedom system for an experimental model is reduced into a two-degees-of-freedom system in order to control vibrations of the fundamental and second modes. As a result of numerical calculations and experiments, it is shown that the spillover problem occurring from the model reduction dose not affect the vibration isolation performance for multi-degees-of-freedom systems and it is important to determine how to reduce the vibrations of low modes of which vibration levels are high. Furthermore, it is demonstrated that the control characteristics depend on the adopted objective functions and the vibrations of the low modes are effectively reduced by introducing a frequency-shaped function in H^∞ control theory.
一般社団法人日本機械学会の論文
1995-03-25