サーボ系の2自由度H∞制御に関する実験的考察 : 特に2関節系への適用について

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/3808
File
Title
サーボ系の2自由度H∞制御に関する実験的考察 : 特に2関節系への適用について
Title Alternative
An Experimental Consideration of a 2 Degree-of-Freedom Servo System Having a H∞ Controller : Especially of the Application to a 2 Linkage System
Author
氏名 川辺 尚志
ヨミ カワベ ヒサシ
別名 Kawabe Hisashi
氏名 上野山 豊巳
ヨミ ウエノヤマ トヨミ
別名 Uenoyama Toyomi
氏名 沖 孝夫
ヨミ オキ タカオ
別名 Oki Takao
Subject
extended H∞ problem
output-mixed sensitivity problem
additive variation
servo system
2-degree-of-freedom
robustness
NDC
548.3
Abstract

By applying the extended H∞ control scheme proposed by Mita to the design of a 1-type servo control system, which is based on an output-mixed sensitivity problem (additive perturbation version), its robust performance has been discussed including the 2-degree-of-freedom control system both from simulating and experimental points of view. The followings have been obtained. As for the 1linkage servo system, a lower gain H∞ controller shows better robust stability on a single degree-of-freedom control system, while a higher gain H∞ controller shows better tracking performance to a 2nd order type model on a 2-degree-of-freedom control system. On the other hand, regarding the 2 linkage servo system having the highly nonlinear and coupled nature, a 2-degree-of-freedom control system has preferable robustness from both aspects of the transient and steady characteristics.

Journal Title
広島工業大学研究紀要
Volume
34
Spage
41
Epage
48
Published Date
2000
Publisher
広島工業大学
ISSN
03851672
NCID
AN0021271X
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima