線形駆動機構磁気浮上系の最適制御 : 第1報,PID制御則の導出

概要

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The calculus of the variation method is applied to the synthesis problem of PID optimal control of a magnetic suspension system for the linear driving mechanism, and it is shown that the method is comparatively easy to implement and effectively applicable to practical design work where only personal computers are available. The method eliminates the difficulty of solving the nonlinear Riccati equation. The linear driving mechanism is used for the precise optical instruments of, for example Michelson's interferrometer, which is why precision is necessary and the integral control elements are essential to remove the offsets that generate constant disturbances. Integral control action is systematically introduced into the optimal control by introducing the (du/dt)^2 terms in the performance index equation. The systematic synthesis of PID optimal control of the magnetic suspension system is shown to be effective using the numerical simulation.
一般社団法人日本機械学会の論文
1995-04-25