1430 電気油圧サーボ系における並列フィードフォワード補償器のオンラインチューニング(GS-10 非線形制御・ロバスト制御,研究発表講演)

概要

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This paper deals with online parameter tuning of a parallel feed-forward compensator (PFC) added to an electrohydraulic servo (EHS) system to enhance the control performance of the EHS system. The natural angular frequency ω_n, of the EHS system is estimated online by estimating the inertia of the load and the stiffness of oil between the hydraulic actuator and the servo valve using pressure sensors based on the equation of continuity and equation of motion, and then PFC parameters are tuned online according to the estimate of ω_n. It is shown that the value of ω_n can be estimated relatively accurately using the method proposed, and that good control performance can be attained by adapting the PFC parameters even under large plant parameter variations.
2005-03-18