適応制御のメカトロニクス制御への応用 : ハイゲインフィードバック適応制御の提案

概要

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It is necessary that the mechatronic control system achieves good performance toward the large mechanical characteristicchange or the mechanical impact on the controlled system. However, the conventional controller with fixedfeedback gain cannot follow the reference command, when the mechanical characteristic change is large. In such case, weusually consider introducing the adaptive control methodology. Though the adaptive control system can adapt to the largemechanical characteristic change, the adaptation speed is very slow. Therefore, the conventional adaptive control methodologycannot compensate the rapid mechanical characteristic change or the mechanical impact. In this paper, for makingthe adaptive control useful in the mechatronic control, the robust adaptive controller is proposed. The adaptive controlcompensates the large but gradual mechanical characteristic change, and the high-gain feedback control compensates themechanical impact. As an illustration, the first-order model reference adaptive control system (MRACS) is considered. Inthe case of the first-order system, there are three ways on the adaptive control gain assignment. Thus, the optimal gainassignment was determined so that the control system became the most robust. Simulation results show the effectivenessof the proposed method.
東京都立産業技術高等専門学校の論文