Integrated Optimum Design of Structure and Servosystem in Information Processing Equipments

信息处理设备结构与伺服系统集成优化设计

• 批准号: 08455111
• 负责人: NAGAMATSU Akio
• 金额: $ 3.26万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 无数据
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08455111/
• 关键词: Servosystem; Vibration; Control; Optimum Design; Modal Analysis; Finite Element Method; 遺伝的アルゴリスム

This study presents approaches for optimum design of structure and servosystem to realize higher performances concerning the positioning and the stability. The proposed approaches use the sensitivity analysis and the nonlinear programming method, in which the integrated optimum design of structure and servosystem is taken into consideration. The performance specifications of the control system are generally expressed as the cahracteristics on frequency and time domains Therefore, this study considers two types of the servosystem, namely one is composed of dynamic compensator such as phase-lead and phase-lag compensators in order to deal with the desired frequency characteristics, and the other is composed of LQI control system in which the controller is desighed to achieve the desired transient responses. The original spatial model of a structure with large degrees of freedom (DOF) is made by the finite element method (FEM). The perfomances and the stability of the servosystem depend on the structural characteristics such as the gain and the phase properties of frequency response function (FRF) between the control input and the output signals. Higher performances of the servo properties and stability of the closed-loop system against the high order natural modes are achieved by the integrated optimization presented in this study. Two modal models are made from the original spatial model, namely one is the reduced modal odel of small DOF and the other is the original modal model of medium DOF.The properties of the servosystem composed of the reduced modal model are optimized under the constranit that the closed-loop system composed of the original modal model must be stable. Effectiveness and practicability of the approaches are verified with a simplified model structure of a positioning device.

本研究提出了结构和伺服系统的优化设计方法，以实现更高的定位和稳定性性能。所提出的方法采用灵敏度分析和非线性规划方法，其中考虑了结构和伺服系统的集成优化设计。控制系统的性能指标一般表示为频域和时域特性。因此，本研究考虑两种类型的伺服系统，即一种由动态补偿器组成，例如相位超前和相位滞后补偿器，以处理所需的频率特性，另一种由LQI控制系统组成，其中控制器被设计为实现所需的瞬态响应。大自由度（DOF）结构的原始空间模型是通过有限元方法（FEM）建立的。伺服系统的性能和稳定性取决于控制输入和输出信号之间的频率响应函数（FRF）的增益和相位特性等结构特性。通过本研究中提出的集成优化，实现了闭环系统针对高阶自然模式的伺服特性和稳定性的更高性能。在原始空间模型的基础上建立了两种模态模型，一种是小自由度的简化模态模型，另一种是中自由度的原始模态模型。在原始模态模型构成的闭环系统必须稳定的约束下，对由简化模态模型构成的伺服系统的性能进行了优化。通过简化的定位装置模型结构验证了该方法的有效性和实用性。

项目成果

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