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 | ||||||||||||
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ファイル |
kenkyuhen38081.pdf
( 425.0 KB )
公開日
:2009-02-17
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タイトル |
弾性直列型2重倒立振子のモデリングとH∞制御
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別タイトル |
Modeling and H∞ Control for an Inverted-Double Pendulum System Consisting of Elastic Links Connected in Series
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著者 |
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キーワード |
Inverted-Double Pendulum
Double Elastic Links
H∞ Controller
Loop Shaping Design
Frequency Shaping
Distributed-Parameter Modeling
Spillover
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NDC |
548.3
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抄録 |
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. |
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掲載雑誌名 |
広島工業大学紀要. 研究編
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巻 |
38
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開始ページ |
81
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終了ページ |
88
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出版年月日 |
2004
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出版者 |
広島工業大学
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ISSN |
13469975
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NCID |
AA11599110
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本文言語 |
日本語
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資料タイプ |
紀要論文
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著者版フラグ |
出版社版
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旧URI | |||||||||||||
区分 |
it-hiroshima
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