Washout Control for Manual Operations
Washout Control for Manual Operations
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DOI：
10.1109/tcst.2008.917871
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发表时间：
2008-08
影响因子：
4.8
通讯作者：
T. Takimoto;S. Yamamoto;H. Oku
中科院分区：
文献类型：
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作者：
T. Takimoto;S. Yamamoto;H. Oku
众所周知，人工操作中人类精度的局限性阻碍了人工控制系统的人工操作员所执行的工作的质量。事实上，操作员的移动容易在手动控制系统中引起不希望看到的振动。在本文中，我们提出了一种新的操作员辅助控制方案，以在不干扰操作员操作的情况下抑制此类系统中的有害振荡运动。所提出的方案是基于反馈控制器的稳态阻塞零点不影响稳态控制输入的事实。一种具有稳态阻塞零点的有限维反馈控制器，在本文中被称为洗涤控制器，它在支持操作员操作方面起着核心作用。然而，当手动控制系统应用于手动控制系统时，其动态特性可能与用于初始冲刷控制器设计的初始模型显著不同。这种差异可能导致操作员支持控制的性能较差。为了改进这一点，提出了一种基于闭环子空间辨识的洗涤控制器再设计迭代方法。通过对模型进行闭环辨识，精化模型进行控制设计，然后利用辨识出的模型得到更复杂的冲刷控制器。通过对倒立摆的手动控制实验，验证了该方案的有效性。
It is known that limitations of human accuracy in manual manipulation hinder the quality of work performed by human operators of manual control systems. Indeed, movements of operators are apt to cause undesirable vibrations in manual control systems. In this paper, we propose a new operator-support control scheme for suppressing harmful oscillatory motions in such systems without disturbing human operator's manipulation. The proposed scheme is based on the fact that steady-state blocking zeros of a feedback controller do not affect the steady-state control input. A finite-dimensional feedback controller with steady-state blocking zeros, called a washout controller in this paper, plays the central role in support for operator's manipulation. However, the dynamics of a manual control system may become different significantly from its initial model used for the design of an initial washout controller when it is applied to the manual control system. Such difference can result in poor performance of operator-support control. In order to improve it, an iterative procedure is presented for redesign of washout controllers based on closed-loop subspace identification. Closed-loop identification is performed to refine the model for the control design, and then a more sophisticated washout controller is obtained using the identified model. The effectiveness of the proposed scheme is demonstrated by an experiment on manual control of an inverted pendulum.