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

本研究的目的是从逆问题的观点发展一种鲁棒伺服系统的设计方法，并将其应用于磁悬浮系统的控制问题，以阐明其有效性和问题，并在必要时进一步改进该方法。为了实现这一目的，我们去年将我们提出的鲁棒ILQ设计方法应用于以Y形铁板为悬浮载体的磁悬浮系统的控制问题。因此，我们成功地在其非常稳定的悬浮和姿态的控制实验与应用程序的阶跃变化在一个设定点。然而，我们发现，不稳定的运动发生由于建模误差，这是由非线性和振动模式被忽略的建模时，施加脉冲扰动。我们今年首先尝试解决这个问题，并采取措施，以防止两种建模错误。与之前的模型错误进行对比 关于我们 用精确线性化方法代替近似线性化方法建立了磁悬浮系统的数学模型，设计了控制系统，并进行了控制实验。因此，其性能略有改善。然而，由脉冲扰动引起的不稳定运动没有被抑制。另一方面针对以往的建模误差，我们采用H_* 控制理论，在控制系统设计中考虑到建模误差，设计控制系统。然后设计了一种控制器，以抑制由脉冲扰动引起的不稳定运动，并在设定点上应用小的阶跃变化。然而，它不能被设计成具有在设定点中的大的阶跃变化的应用。为了正确把握精确线性化技术的有效性，我们对一个刚性很强的杠铃形悬浮车辆进行了类似的悬浮控制实验，验证了基于精确线性化模型的仿真结果与实验结果比基于线性近似模型的仿真结果更加一致。在此基础上，本文推广了ILQ伺服系统优化设计方法。这种设计方法目前只考虑了阶跃参考输入，因而所得到的控制器阶数较低，影响了控制系统性能的提高。因此，我们推广了ILQ最优伺服设计方法关于参考输入，并开发了它的CAD今年。少

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