仮想外乱トルク推定とそのフィードバック補償による不安定な車輪型サーボ系の位置制御

概要

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In this paper, we are concerned with the servo control for a unstable-wheeled system by using virtual disturbance torque observer and its feedback compensation. We consider that unstable behavior of the monowheeled system because of one supported point body is caused by the virtual disturbance torque. For this purpose, this paper proposes a design method of disturbance observer for such virtual disturbance torque in feedback loop and evaluates its effectiveness by experiment. In disturbance observer, ordinary 2nd-order low pass filter for noise attenuation is insufficient to stabilize the whole wheeled system, so more high order filter is designed by H ∞ loop shaping method in view point of the regulator specifications. And the servo controller for the closed loop system including such H ∞ high order filter is also designed by satisfying an H ∞ norm condition.
一般社団法人日本機械学会の論文
1999-04-25