324 長さが変化する弦の不確かさを考慮した非定常ロバスト振動制御

概要

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For a control problem of wire changing its length such as elevator cables and crane ropes, a controller considering its nonstationary characteristics is effective in suppressing their vibrations. Additionally, the controller having robustness for various uncertainties is valid within suppressing the vibrations of object that has a flexible feature. Consequently, the main objectives of this paper are to propose a nonstationary robust control method and to reduce the transverse vibrations of wire. The vibration controller is designed based on H-infinity theory and a time-varying weighting for the worst disturbance is also optimized to have the appropriate robustness for the parametric uncertainties in time domain. The robust stabilization performances of controller is demonstrated through the numerical calculations and then the robust controller shows the advantage regarding the robustness on the various uncertainties in comparison with the optimal controller.
社団法人日本機械学会の論文
2003-10-30