Internal Structure of Two-Degree-of-Freedom Controller and a Design Method for Free Parameter of Compensator
Internal Structure of Two-Degree-of-Freedom Controller and a Design Method for Free Parameter of Compensator
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二自由度控制器的内部结构及补偿器自由参数设计方法
DOI：
10.1541/ieejias.113.768
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发表时间：
1993
影响因子：
--
通讯作者：
S. Okuma
中科院分区：
文献类型：
--
作者：
K. Matsumoto;Tatsuya Suzuki;S. Sangwongwanich;S. Okuma
在这篇文章中，作者证明了工业上使用的启发式控制器与理论上的广义控制器之间的联系。首先，阐明了联系理论研究和实际应用的广义二自由度控制器的内部结构。这在控制器设计指南可以从系统的物理洞察中获得的应用中特别有用。其次，我们说明了如何在不修改控制器的情况下将辨识和控制融合在一起。这实际上就是闭环辨识的问题。这也可以被认为是自动调整技术的识别部分。第三，基于辨识得到的信息，提出了一种新的考虑鲁棒稳定性的自由参数设计方法。最后，将该算法应用于振动抑制控制中，并给出了仿真结果，验证了该算法的有效性。
In this paper, the authors show a link between a heuristic controller used in industry and a theoretical generalized controller. First of all, we clarify the internal structure of the generalized two-degree-of-freedom controller which yields a link between the theoretical researches and the practical applications. This is particulary useful in the applications where the guidelines on the design of the controller can be obtained from the physical insight of the systems. Secondly, we indicate how to blend identification and control together without any modification of the controller. This is in fact the problem of closed-loop identification. This can be considered also as the identification part of the auto-tuning technique. Thirdly, we propose a new design technique of a free parameter taking into account a robust stability based on the information obtained from the identification. Finally, we apply the proposed algorithm to vibration suppression control, and show some simulation results to verify the effectiveness of the proposed algorithm.