サーボ系と振動系を同時に考慮したμ-synthesisによる柔軟構造物のロバスト制御

概要

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This paper proposes a design technique for a control system of a moving flexible structure. This design technique uses μ-synthesis taking the performance of servo and vibration control and robustness of the control system into consideration. Servo performance can be considered as making the sensitivity function small. Vibration control performance can be considered as the disturbance rejection. Robustness against unmodeled dynamics can be treated as the problem of robust stabilization for the modeling errors. Robustness against the change in the characteristics of the vibration system can be regarded as the problem of robust performance for the parameter errors of the model. Each of these specifications is important in a particular frequency band. The proposed design method weights these specifications with weighting functions in the frequency region and treats this control problem in a framework of μ-synthesis. An example of the control system designed using this design technique is shown and the effectiveness of this technique is confirmed experimentally.
一般社団法人日本機械学会の論文
1995-04-25