530 実験的モデル化と制御系設計の統合に関する基礎的研究(新領域システム技術)(OS.08 : 先端的・萌芽的制御技術とその応用)

概要

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Modeling method for achieving an enhanced control performance is proposed in this study. The modeling approach is based on experimental modal analysis and the modal parameters of the system are derived from the measured frequency response data. The state equation of the system is described by the identified modal parameters. The specifications of the robust stability based on H_∞ norm and the frequency shaping are reflected on the modeling process with the experimental modal analysis. The maximum modeling error is minimized by the proposed method, resulting in the enhanced control performance under the robust stability constraint. The controller is designed based on LMI approach in which an optimization problem is defined as a mixed H_2/H_∞ control problem. The H_2 norm of the closed-loop transfer function concerning the controlled response is minimized under the H_∞ constrain with respect to the robust stability constraint Simulation and experiment are carried out and an enhanced control performance is achieved by the presented approach.
一般社団法人日本機械学会の論文
2001-08-03