2313 パラレルリンク型電動モーションシミュレータの目標値追従性能向上(免振・除振装置および振動試験機(2))

概要

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Motion simulators, such as flight simulators and driving simulators, have been widely used as "operation training tools" or "evaluation tools for new system development" in various advanced mobility fields. In the present study, we propose a control system design technique for motion simulators using Dual Model Matching (DMM) in order to attain precise reference following performance of the motion simulator in the high-frequency range. Dual Model Matching is a two-degree-of-freedom linear control system design method that is based on transfer functions. It is possible to realize the desired closed-loop characteristics by directly setting two kinds of closed-loop transfer functions (dual model). One is the transfer function between reference input and controlled output (representing the reference tracking performance), and the other is the transfer function between sensor noise and controlled output (representing the robust stability performance). Therefore, by using DMM, we can simultaneously take into consideration the three most important properties of the overall control system: reference tracking performance, robust stability and disturbance rejection performance. The effectiveness of the proposed DMM control system is verified through both simulations and real experiments using the Stewart Platform type motion simulator.
2007-08-08