弾性直列型2重倒立振子のモデリングとH∞制御

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/3782
File
Title
弾性直列型2重倒立振子のモデリングとH∞制御
Title Alternative
Modeling and H∞ Control for an Inverted-Double Pendulum System Consisting of Elastic Links Connected in Series
Author
氏名 神本 和昭
ヨミ カミモト カズアキ
別名 Kamimoto Kazuaki
氏名 川辺 尚志
ヨミ カワベ ヒサシ
別名 Kawabe Hishashi
Subject
Inverted-Double Pendulum
Double Elastic Links
H∞ Controller
Loop Shaping Design
Frequency Shaping
Distributed-Parameter Modeling
Spillover
NDC
548.3
Abstract

The stabilizing control techniques for an inverted-double pendulum system consisting of elastic links connected in series are investigated by employing a distributed-parameter modeling method taking the 2nd and 3rd vibration modes of the elastic beam as the residual modes, and designing the H∞ controller with both frequency characteristics and integral ones based on the loop-shaped H∞ control scheme. It is found that the present design method is very convenient for such a flexible structure system having the jω poles as a double pendulum system discussed here, and that the frequency-shaped H∞ controller has not only the simultaneous suppression effect against the chattering and the spillover components, but also the precise cart positioning control effect without static error. Furthermore, It is found that although the coupling effect of the different natural frequencies between two flexible beams makes the stabilization problem more difficult, even such a simple feedback controller using only the output signal based on the strain vibration on the upper elastic beam is possible in stabilizing the most unstable system.

Journal Title
広島工業大学紀要. 研究編
Volume
38
Spage
81
Epage
88
Published Date
2004
Publisher
広島工業大学
ISSN
13469975
NCID
AA11599110
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima