部分空間法を用いたツインロータシステムのシステム同定

概要

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This paper describes a modeling method in order to realize a hovering controller design of a Twin Rotor System which is MIMO (Multi-Input Multi-Output) and closs-coupling system. In this study, 4SID (Subspace State Space System Identification) method was adopted in the MIMO system identification for the twin rotor system. Making a selection of identification input is the most important process of the identification, because of that it affects significantly the identified model properties. PRBS (Pseud Random Binary Signal) was made a choice in this paper. The 4SID method can achieve to obtain the accuracy and low order identified model. Identification experimental results demonstrated that the 4SID algorithem is suited to the modeling of the MIMO system such as the Twin Rotor System than the prediction error model method. A hovering control experimental results demonstrated that the LQ controller designed by identified model can achieve to suppress the vibration due to the disturbance.
岐阜工業高等専門学校の論文
2002-03-01