H^∞制御による片持送水管の安定化

概要

論文の詳細を見る
This paper presents an active control of cantilevered pipes conveying fluid using an H^∞ control law based on normalized coprime factorization. The experimental setup consists of a pipe system, a laser sensor, an A/D converter, a personal computer, a D/A converter, and a DC servomotor which produces a transverse force for active control of the pipe. The transfer function of the control object which consists of the pipe system and the actuator is identified from experimental input-output data. From this mathematical model, the controller is calculated based on H^∞ control law. This controller is discretized and input to the personal computer in order to provide a command input voltage to the actuator. The experimental results show that the designed H^∞ controller effectively stabilizes unstable phenomena of a cantilevered pipe conveying water. Furthermore, it is found that the H^∞ controller is robust against the change in properties of the pipe system caused by increasing flow velocity, in comparison with a PID controller which we studied previously.
一般社団法人日本機械学会の論文
1996-09-25