剛性リンクに載った弾性リンクからなる2重倒立振子の安定化制御

概要

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For an inverted-double pendulum system consisting of an elastic link mounted on a rigid one, its stabilization control techniques have been discussed by using a distributed-parameter modeling method taking the 2nd and 3rd vibration modes of the elastic beam as the residual modes, and by applying such control strategies as an LQ, a frequency-shaped LQ (simply shortened as FSLQ), a sliding mode control (SLM), and a frequency-shaped SLM control (FSSLM), from the viewpoint of the robust stability including the spillover problem. From the real system experiment taking the 1st mode of vibration as the control mode, it is found that even in the FSLQ system, considerably stable control performance can be obtained, while in the LQ system, it is impossible to realize a stable system due to so-called control spillovers. Furthermore, it is demonstrated that the FSSLM has not only the simultaneous suppression effect against the chattering and the spillover components, but also a better robust performance against parameter variations of the controlled system and applied disturbances than the FSLQ system.
一般社団法人日本機械学会の論文
2001-09-25