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
ファイル
タイトル
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
別タイトル
An Experimental Consideration of a 2 Degree-of-Freedom Servo System Having a H∞ Controller : Especially of the Application to a 2 Linkage System
著者
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
キーワード
extended H∞ problem
output-mixed sensitivity problem
additive variation
servo system
2-degree-of-freedom
robustness
NDC
548.3
抄録

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.

掲載雑誌名
広島工業大学研究紀要
34
開始ページ
41
終了ページ
48
出版年月日
2000
出版者
広島工業大学
ISSN
03851672
NCID
AN0021271X
本文言語
日本語
資料タイプ
紀要論文
著者版フラグ
出版社版
旧URI
区分
it-hiroshima