支点鉛直変動型振り子系の安定化制御 : 特に力学的エネルギーに基づくリアプノフ型関数を用いて

概要

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For a pendulum system whose pivot is vertically transferred, a stabilizing control law has been proposed using a Lyapunov-type function based on the mechanical energy. The stability condition is represented by the sign of the pivot acceleration. A design method of the servo system for the pivot is also developed that can control both the pivot position and the acceleration. A nonlinear observer is especially introduced for the estimation of the pendulum angular velocity from the large angle, while a linear observer based on the Gopinath method is adopted to estimate the pivot velocity. Similar to the VSS control system by Kawabe et al., satisfactory vibration-suppressing effects can be obtained with the results that in the simulation, the maximum damping capacity Q^<-1>_<max>≅0.15, while in the real system, Q^<-1>_<max>≅0.14.
一般社団法人日本機械学会の論文
1999-05-25