非線形むだ時間システムの安定化法と動特性(機械力学,計測,自動制御)

概要

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This paper concerns a stabilizing method for nonlinear time-delay systems. Generally, hunting frequently occurs in a system with a time-delay, and is difficult to prevent. The Smith compensator is well known as a method for stabilizing such systems. However, it is fairly difficult to apply this method in practice because of both the existence of nonlinearity and the difficulty of modelling for a real system. In particular, the identified error between controlled object and controller causes instability of the system. In this research, to prevent hunting, a new stabilization method is proposed. This method can prevent hunting, and reduce the steady-state error to zero by parameter adjustment. First, the stability analysis of nonlinear time-delay system is clarified using the circle theorem. Second, in order to analyze the robustness of the new compensator, its robust stability condition is derived for such control systems with a dead time and a saturated-type nonlinearity, and the stability margins under the identified errors of time lag are evaluated. Third, the new compensator is directly represented by a z transform, and its stabilization and dynamical characteristics are analyzed using the root locus method. From these studies, it is verified that the new stabilization method can be useful for general nonlinear time-delay control systems.
社団法人日本機械学会の論文
1997-04-25