スピルオーバを考慮する弾性構造系の最適制御 : 弾性回転アームの位置決め制御への応用

概要

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A digital controller for an elastic structure system suffers from spillover of residual modes. In this study, this problem is formulated as a control structure constraint for the elastic system. A sub-optimization technique is applied to the optimal control problem with a control structure constraint and a suboptimal control law is derived taking account of the spillover. This method is very simple, since it needs only a solution of the Riccati equation and matrix operations. This method is applied to the optimal positioning control of a rotating elastic arm. In the numerical calculation, it is indicated that the controlled system synthesized by this method remains stable and has good control performance, while the one synthesized by the optimal control theory within the reduced order system becomes unstable. Furthermore, the usefulness of this method is demonstrated in the simulation and control experiment.
一般社団法人日本機械学会の論文
1988-01-25