構造系のパラメトリゼーションに基づく構造系と制御系の同時最適設計の一手法 : 機械力学,計測,自動制御

概要

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In this paper, we consider a simultaneous optimization problem in which the design parameters of a controller and mechanical structure are simultaneously optimized. This problem is generally formulated as the nonlinear optimization problem for the design parameters of structure and controller. Therefore, it is hard for us to obtain an analytical solution. In this paper, we parameterize all passive parameters of mechanical structure such that the parameters work in the control system like as static output feedback gains. Using this parameterization, we have formulated a simultaneous optimization problem of structure and control systems, and proposed a new performance index. We propose a numerical optimization method to solve the formulated problem, which is based on the necessary condition for controller parameters and the performance sensitivities with respect to passive parameters changes. We can surely obtain a local minimum solution for the defined performance index. A numerical example is given to illustrate the procedure of design and the effectiveness of simultaneous optimization.
一般社団法人日本機械学会の論文
2001-05-25