Active control of shock (applications of LQI control and H ∞ control)
Active control of shock (applications of LQI control and H ∞ control)
复制标题
冲击的主动控制（LQI控制和H ∞控制的应用）
DOI：
10.1299/kikaic.71.1223
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Shimogo
中科院分区：
文献类型：
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作者：
Dezhang Wang;H. Nishimura;T. Shimogo
本文试图通过控制两个物体之间的碰撞来实现冲击的主动控制，从而使一个物体的变形变大，另一个物体的变形变小。本实验采用了两种控制系统。一种是卡尔曼滤波的LQI控制系统，另一种是H-∞控制系统。在这两个系统中，我们都提出了一个控制器，当物体从弹性范围变形到塑性范围时切换。为了评价控制效果，引入了对象间的变形率。在我们的实验中，离散控制系统在数字信号处理器中实现，用于实现实时控制。实验结果表明，冲击主动控制是可行的，所设计的控制器对冲击控制是有效的。
In this paper we try to realize the active control of shock by an experimental procedure, in which the collision between two objects is controlled so as to make the deformation of one object large and the other small. Two control systems are applied to this experiment. One of them is an LQI control system with Kalman filter and the other is an H∞ control system. In both systems, we proposed a controller switching at a time when the object deforms from the elastic range to the plastic range. In order to evaluate effectiveness of control, the deformation ratio between the objects is introduced. In our experiment the discretized control system is implemented in a digital signal processor used to realize real-time control. As a result of experiment it was verified that the active control of shock is realizable and the controller we designed is useful for shock control.