Research on the development for the design method of robust servo systems from the viewpoint of the inverse problem and its application to a magnetic levitation system

逆问题鲁棒伺服系统设计方法研究及其在磁悬浮系统中的应用

基本信息

批准号：
05650411
负责人：
FUJII Takao
金额：
$ 1.41万
依托单位：
Kyushu Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

项目摘要

The purpose of this research is that we develop a design method of robust servo systems from the viewpoint of the inverse problem and apply it to a control problem of a magnetic levitation system in order to clarify its effectiveness and its problem and furthermore improve the method if necessary. In order to achieve this purpose, we applied the Robust ILQ design method developed by us to the control problem of the magnetic levitation system with a Y shape iron plate as a levitation vehicle last year. As a result we succeeded in a control experiment of its very stable levitation and attitude with an application of step change in a set point. We, however, found it that an unstable motion happened due to the modelling errors which was arisen from nonlinearity and modes of vibration neglected in modelling when an impulse disturbance was applied. We first try to solve this problem this year and take measures against two kinds of modelling errors. Against the former modelling error we made … More a model of the magnetic levitation system by using exact linearization technique, which is useful as was pointed out recently, instead of approximate linearization technique and then design a control system and did a control experiment. As a result its performance was a little improved. The unstable motion caused by an impulse disturbance, however, was not suppressed. On the other hand against the former modelling error we use H_* control theory, which can take it into account in the control system design, and design the control system. Then a controller was designed in order to suppress the unstable motion caused by an impulse desturbance with an application of small step change in a set point. It, however, could not be designed with an application of large step change in a set point. In order to grasp the effectiveness of exact linearization technique correctly, we did a similar levitation control experiment with a very rigid barbel shape levitation vehicle and verified that a simulation result and an experimental result based on the exactly linearized model was more consistent than that based on the linear approximation model. Based on the above-mentioned information we extended the ILQ optimal servo system design method this year. So far this design method have taken only a step reference input into consideration and a controller obtained by using the method therefore had low order and it prevented the performance of the control system from being improved. Hence, we generalized ILQ optimal servo design method with respect to the reference input and developed its CAD this year. Less

这项研究的目的是，我们从逆问题的角度开发了一种鲁棒伺服系统的设计方法，并将其应用于磁性悬浮系统的控制问题，以阐明其有效性及其问题，并在必要时改善该方法。为了实现此目的，我们将我们开发的强大的ILQ设计方法应用于去年，用Y形的铁板作为悬浮板的控制问题。结果，我们成功地控制了其非常稳定的悬浮悬浮，并尝试在设定点上应用步骤更改。但是，我们发现这是由于建模误差和在应用冲动灾难时忽略的振动模式而引起的，这是由于建模错误而发生的不稳定运动。我们首先尝试解决这个问题，并针对两种建模错误采取措施。在以前的建模误差方面，我们通过使用精确的线性化技术进行了磁性悬浮系统的模型，该技术是最近指出的，而不是近似线性化技术，然后设计控制系统并进行了控制实验。结果，其性能有所提高。但是，由于冲动灾难引起的不稳定动议并未受到压制。另一方面，我们使用了H_*控制理论，该理论可以在控制系统设计中考虑并设计控制系统。然后，设计了一个控制器，以抑制脉冲破坏引起的不稳定运动，并在设定点中使用小步骤更改。但是，它无法通过在设定点的较大步骤更改中进行设计。为了正确掌握精确线性化技术的有效性，我们使用非常刚性的杠铃形状悬浮式悬浮式悬浮型进行了类似的悬浮控制实验，并验证了基于确切的线性化模型的模拟结果和实验结果比基于线性近似模型的实验结果更一致。根据上述信息，我们今年扩展了ILQ最佳伺服系统设计方法。到目前为止，该设计方法仅考虑了一个步骤参考输入，并且使用该方法获得的控制器的控制器具有较低的顺序，并且可以防止控制系统的性能得到改进。因此，我们将ILQ最佳伺服设计方法概括为参考输入，并于今年开发了其CAD。较少的