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Development of Computer-Aided-Design Systems for Digital Adaptive Control Systems

数字自适应控制系统计算机辅助设计系统的开发

基本信息

批准号：
61550289
负责人：
TAKEDA Hiroshi
金额：
$ 1.09万
依托单位：
TOHOKU UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1986
资助国家：
日本
起止时间：
1986 至 1987
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-61550289/
关键词：
Digital control Adaptive control Interative controller CAD system for control system design

项目摘要

The aim of this research project is to develop software packages for design of digital adaptive control systems. We first investigate fundamental issues in design of digital adaptive control systems, which are summarized as follows.1. Effects of computation delays on feedback properties of digital optimal regulators and type 1 servosystems with computation delays are analyzed.2. A class of stochastic optimal control problems is analyzed to give certain theoretical limit on achievable performance in adaptive control problems.3. Drawbacks of the existing dual control algorithms are pointed out and an improved algorithm is proposed.4. A new design method for digital iterative learning controller is proposed.5. A new digital servosystems for trajectory control of robot manipulators taking account of computation delays are proposed.Based on the above theoretical results, the following CAD systems useful for practical design are developed.1. The CAD system for design of digital optimal regulators and type 1 servosystem taking account of computation delays2. The CAD system for design of digital adaptive identifiers3. The CAD system for design of digital model reference adaptive control systems4. The CAD system for design of digital iterative learning controller5. The CAD system for design of digital servosystem for trajectory control of robot manipulators.The CAD systems 2 and 3 are successfully utilized to develop an adaptive control system for the ventiricular assist device.

本研究计画的目的是开发数位适应控制系统设计的软体套件。本文首先研究了数字自适应控制系统设计中的基本问题，主要内容如下：1.分析了计算延迟对数字最优调节器和具有计算延迟的1型伺服系统反馈特性的影响。2.对一类随机最优控制问题进行了分析，给出了自适应控制问题可达性能的理论极限.指出了现有对偶控制算法的不足，提出了一种改进算法.提出了一种新的数字迭代学习控制器的设计方法.提出了一种新的考虑计算延迟的机器人轨迹控制数字伺服系统，并在此基础上开发了以下可供实际设计使用的CAD系统.考虑计算延迟的数字最佳调节器和1型伺服系统设计的CAD系统2。数字自适应辨识器的CAD系统3.数字模型参考自适应控制系统设计CAD系统4.数字化迭代学习算法的计算机辅助设计系统机器人轨迹控制数字伺服系统设计CAD系统2和3已成功地用于开发一个辅助装置的自适应控制系统。