604 フレキシブルマニピュレータの構造と制御の同時最適設計

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This paper proposes an optimum design problem of structural and control systems, taking a 2-link flexible arm as an example. This object is modeled by finite element method, and an output feedback H_∞ controller is designed using H_∞ control theory. The objective functions of structual system and control one are structual weight and H_∞ norm of transfer function from disturbance input to controlled output, respectively. Design variables are cross sectional heights of flexible arm. This design problem is a multi-purpose objective one. By transforming it into a single-purpose problem. Parato optimum solutions are obtained. In this approach. we adopt the simplex method for solving this nonlinear problem. As the result, the optimum form of flexible arm is such that tapers off. Through the numerical examination we show the validity of the optimum design.
社団法人日本機械学会の論文