Control Systems Design Based on the Principle of Matching and Its Application to Mechanical Systems

基于匹配原理的控制系统设计及其在机械系统中的应用

• 批准号: 13650242
• 负责人: ISHIHARA Tadashi
• 金额: $ 1.28万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650242/
• 关键词: Control system design; The principle of matching; The method of inequalities; Critical control systems; Linear matrix inequality; Genetic algorithms; Integral cintrollers; Actively controlled bed

The principle of matching proposed by Dr. Zakian in UK is a new design principle which can explicity take account of real operating conditions of a control system. The principle is especially useful to design critical control systems which require to keep the magnitude of the controlled variables less than prescribed values. The principle converts a design of a critical control system to a problem formulated as the method of inequalities.In this project some issues are resolved for the effective use of the principle in practical designs. The results are summarized as follows:1) Since most control systems are realized by using a digital controller, inter-sample behavior of the controlled variables are important for the critical control systems design. The matching conditions for sample-data control systems have been derived for an important class of exogenous inputs.2) An application of linear matrix inequalities has been proposed as an efficient computational method for solving a set of inequalities required by the principle.3) An application of multiobjective genetic algorithms for the parameter search is discussed. The fundamental difference of the conventional multiobjcetive optimization and the solution of inequalities has been clarified. A new genetic algorithm has been proposed to solve a set of inequalities required by the principle.4) The principle of the matching often requires a controller with integral action. A systematic design method of a class of integral controllers has been discussed. An application of a loop transfer recovery technique to critical control systems design has been proposed.5) As an application of mechanical systems, actively controlled bed for an ambulance has been developed. The effect of the centrifugal force acting on a patient is reduced by controlling the tilt of bed.

英国Zakian博士提出的匹配原则是一种能够明确考虑控制系统实际运行情况的新型设计原则。该原理对于设计要求控制变量的大小小于规定值的关键控制系统特别有用。该原理将关键控制系统的设计转化为用不等式方法表述的问题。为了在实际设计中有效地运用该原理，本课题解决了一些问题。结果总结如下：1)由于大多数控制系统是通过使用数字控制器实现的，因此被控变量的样本间行为对于关键控制系统的设计非常重要。对于一类重要的外生输入，导出了样本数据控制系统的匹配条件。2)提出了线性矩阵不等式的应用，作为解决原理要求的一组不等式的有效计算方法。讨论了多目标遗传算法在参数搜索中的应用。阐明了传统多目标优化与不等式求解的根本区别。提出了一种新的遗传算法来求解该原理所要求的一组不等式。4)匹配原理往往要求控制器具有积分作用。讨论了一类积分控制器的系统设计方法。提出了回路传递恢复技术在关键控制系统设计中的应用。作为机械系统的一种应用，救护车主动控制床已被开发出来。通过控制床的倾斜度，可以减少作用在病人身上的离心力。

项目成果

T.Ishihara, H.J.Guo, H.Takeda: "Integral controller design based on disturbance cancellation via partial LTR"Proc.of IFAC2002. (CD-ROM). (2002)

T.Ishihara、H.J.Guo、H.Takeda：“基于部分 LTR 干扰消除的积分控制器设计”IFAC2002 论文集。

T.Ono, T.Ishihara, H.Inooka: "Design of sampled-data critical systems based on the fast discretization technique"International Journal of Control. 75・8. 572-581 (2002)

T.Ono、T.Ishihara、H.Inooka：“基于快速离散化技术的采样数据关键系统的设计”国际控制杂志 75・8（2002）。

小野貴彦, 石原 正, 猪岡 光: "高速離散化法に基づくサンプル値クリティカル制御系の設計"日本機械学会論文集(C編). 67-663. 98-105 (2001)

Takahiko Ono、Tadashi Ishihara、Hikaru Inoka：“基于高速离散化方法的样本值临界控制系统的设计”日本机械工程师学会汇刊（ed.C）67-663（2001）。

T. Ono, T. Ishihara, H. Inooka: "An LMI-based approach to critical control system design for rate-limited exogenous inputs"Systems & Control Letters. 47. 129-138 (2002)

T. Ono、T. Ishihara、H. Inooka：“基于 LMI 的限速外源输入关键控制系统设计方法”

T. Ishihara, H. J. Guo, H. Takeda: "Integral controller design based on disturbance cancellation viapartial LTR"Proc. of IFAC 2002. CD-ROM.

T. Ishihara，H. J.郭，H. Takeda：“基于部分LTR干扰消除的积分控制器设计”Proc。