Relationship between Model-Following Servo Control System and Two-Degree-of-Freedom Control System

概要

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We can recognize that both the model-following servo control system and 2-degree-of-freedom control system comprise the stable closed loop for the controlled object, the model, and the feedforward path from the model to the closed loop. In spite of the structural similarities, they are considered to be different systems. Since the mathematical tools used for the formulations are the state equation and the transfer function matrix, respectively, the approaches to solving the problem are different. However, the basic structures in both control systems are the same and it may be inconvenient for us to consider the two system as entirely different ones. Hence, clarifying the relationship between the model-following servo control system and the 2-degree-of-freedom (d.o.f.) control system is a very significant issue in the case of application to an actual plant. In this paper, the design method of the model-following servo control system and 2-d.o.f. control system are examined, and their similarities and differences are clarified. Next, the convergence to the model given by the designer is compared using the frequency response. In the model-following servo control system, the dimension of the model was not previously taken into consideration. However adequate convergence to the model can be shown by using numerical examples, if the dimension of the model is restricted in them.
一般社団法人日本機械学会の論文
1993-09-15