支点が水平移動する弾性振り子の運動制御 : 特に最小次元VSS観測器併合スライディングモード制御系について

概要

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The simultaneous control problem between positioning and vibration in a flexible Pendulum system, which is constructed with a thin stainless beam (0.455 × 0.01 × 0.005 m^3) hinged to a pivot mounted on a cart moving on horizontal rails, has been investigated based on the sliding mode scheme (free-hierarchical type) including a minimal order VSS observer, both from simulation and experimental aspects. The active damping effect on the vibrations induced during positioning is more expected in the sliding mode control system as compared with the LQ system, and the compatibility between the speed-up of the rigid mode positioning and the reduction in the vibration mode depends on the largeness of the switching input function. Furthermore, the robustness against such disturbance factors as the parameter variation and the spillover vibration mode is also more excellent in the composite sliding mode control system with the VSS observer.
一般社団法人日本機械学会の論文
1999-05-25