Journal Article 反共振を含む制御対象におけるSACの問題点とPFC の設計による改善

種村, 昌也  ,  山城, 始之  ,  千田, 有一  ,  丸山, 直人

81 ( 824 )  , p.14-00474 , 2015-04-25 , 日本機械学会
Simple adaptive control (SAC) is known as a control method that keeps control performance even if plant properties have changed. However, there is a problem such that the vibratory output occurs in the transient response when SAC is applied to a vibration system which includes anti-resonance modes. This paper clarifies the reason and an improvement method of the problem. The reason why the vibratory output occurs is that the vibratory input corresponding to the anti-resonance frequency occurs by the structure of SAC. In order to overcome the problem, it is shown that designing of a parallel feedforward compensator (PFC) appropriately is effective. The PFC should be designed such that the frequency response of an augmented system which consists of the plant and the PFC does not have anti-resonance properties even if the plant includes anti-resonance modes. This paper proposes a PFC design method to overcome the problem such that the gain of the augmented system is matched to the one of a pre-specified desired model. Furthermore, the PFC must give the ASPR property to the augmented system. The design problem is described as an optimal problem of the frequency response matching under some restrictions on the ASPR property. The optimal problem is solved using the distributed particle swarm optimization which is effective for a non-convex problem. The effectiveness of the proposed method is verified by numerical simulations and experiments.

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