複数の制御系の融合による高精度な追従特性を有する制御系の設計と3自由度電動加振機を用いた地震波再現実験

概要

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In feedback control of mechanical systems, various kinds of sensors are used, and usually each sensor has its advantages and disadvantages at the same time. For example, accelerometers are suitable for measuring relatively high frequency motion, and displacement sensors are suitable for measuring relatively low frequency motion. In order to utilize only advantages of each sensor, sensor-fusion technique is used in many fields. However, when the sensor fusion is used for feedback control problems, it requires both signal filters and feedback controller. The signal filters are used to generate physical values from various sensor measurements, and then the feedback controller uses these generated values for control. This paper proposes a concept of "Controller Fusion". Controller fusion is the way to design controllers which works as both signal filters and feedback controllers. Therefore the control system design process becomes simpler than the sensor fusion, and also good motion control performance is obtained in wide frequency range. In this paper, first the concept of "Controller Fusion" is described, then the experimental results are shown for a 3-dof electric shaking table, and effectiveness of the controller fusion is evaluated. Finally some discussions for future practical systems are related.
一般社団法人日本機械学会の論文