衝撃のアクティブ制御 : LQI制御とH_∞制御の適用(機械力学,計測,自動制御)

概要

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In this paper we try to realize the active control of shock by an experimental procedure, in which the collision between two objects is controlled so as to make the deformation of one object large and the other small. Two control systems are applied to this experiment. One of them is an LQI control system with Kalman filter and the other is an H_∞ control system. In both systems, we proposed a controller switching at a time when the object deforms from the elastic range to the plastic range. In order to evaluate effectiveness of control, the deformation ratio between the objects is introduced. In our experiment the discretized control system is implemented in a digital signal processor used to realize real-time control. As a result of experiment it was verified that the active control of shock is realizable and the controller we designed is useful for shock control.
一般社団法人日本機械学会の論文
2005-04-25