変位出力を用いたプロパーなコントローラによる大型宇宙構造物の近似DVDFB制御

概要

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This paper considers position and attitude control of large space structures (LSS). For position and attitude control of LSS, Direct Velocity and Displacement Feedback (DVDFB) has been proposed under the assumption of sensors/actuators collocation. The DVDFB realizes robust stability against uncertainty of structures parameters. However, in implementing the DVDFB by displacement output and its derivative, a controller has to realize high gain in high frequency range. In this paper, we propose a control method using an approximated DVDFB which is composed of a first order low-pass filter and the DVDFB. Since the approximated DVDFB is represented by a first order proper transfer function, its gain in high frequency range becomes lower than that of the DVDFB implemented with displacement output and its derivative. Moreover, it is shown that a closed-loop system becomes an optimal regulator for a quadratic cost function by choosing appropriate parameters of the controller.
神戸市立工業高等専門学校の論文
2005-03-01