ILQ理論を用いた周波数依存型最適サーボ系の構成(機械力学,計測,自動制御)

概要

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In this paper, we propose a new design method of frequency dependent optimal servo system for the positioning of flexible structures. In order to reduce the sensor cost and to suppress spillover phenomena which are caused by ignored elastic modes of the plant, we introduce a pre-filter into an input, which possesses low pass characteristics. Furthermore, we apply the ILQ servo design method, and as a results, it is shown that a low pass filter can be introduced into a control input. The proposed method enables to design specified characteristics of the pre-filter exactly and to assign poles to desirable locations of a closed loop system exactly while keeping optimality. Some results of simulations and experiments are given in order to verify the usefulness of our method.
社団法人日本機械学会の論文
2008-10-25