スピルオーバを抑制する周波数成形型スライディングモード制御

概要

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This paper deals with a new design method for sliding mode control with frequency shaping. The concept is suppression of spillover phenomena for a flexible system. A conventional hyperplane consists of a desired reference model without dynamics. Therefore, the sliding mode control system often becomes unstable due to chattering and spillover phenomena in the high-frequency region. This method aimes to suppress a control input in a high-frequency region by filtering control input or measured output using a low-pass filter. The new sliding mode control system is designed as an augmented system which consists of a reduced-order model and a low-pass filter. We have applied this method to a four-story flexible structure. We have verified from simulations and experiments that this method has good performance and is very useful for suppressing spillover phenomena.
社団法人日本機械学会の論文
1997-07-25