ESTABLISHMENT OF INTELLIGENT CONTROL TECHNIQUE IN ADVANCED MACHINE SYSTEM CONTROL FOR ENSURING SAFETY

本课题的目的是建立一个系统的安全技术，将控制技术和诊断技术相结合，以确保先进机械系统控制的安全性。此外，本文还提出了基于观测器响应和误差评估的智能安全控制系统的体系结构和设计方法。此外，计算机模拟和实验进行了验证所提出的方法的有效性，从理论和实验上从以下三个途径：A）现有的，线性控制系统设计技术，如鲁棒控制的扩展，增益调度控制等。B）非线性控制系统设计方法的扩展，如滑模控制等。C）先进的人工智能和软计算技术的应用和智能控制系统体系结构的构建在项目中，解决了电梯、厂房和机器人的控制问题，以及机器和航天结构的振动控制问题，分别从线性控制方法、非线性控制方法和软计算方法三个方面研究了基于该概念的控制方法的体系结构设计和设计方法。此外，所提出的方法的有效性进行了验证，通过一些计算模拟和实验。在现有的控制系统设计中，其通过控制系统外部的回路对其进行附加诊断。而且，当推断出某些异常时，它会中断控制并处理该情况。另一方面，因为它连接到评估控制的控制回路中的积极的，并积极地确保安全的建议的控制技术，它被认为是在本研究中与快速提高先进的机械系统的安全性。

This project aims at establishing a systematic safety technology that unifies the control technology and the diagnostic technique to assure safety in the control of an advanced mechanical system. In addition, we propose the architecture and the design method of the intelligent safe control system based on evaluation of response and error in observer. Moreover, the computer simulations and experiments are carried out to verify the usefulness of the proposed method theoretically and experimentally from the following three approaches.A) Extension of existing, linear control system design techniques such as robust control, gain scheduled control and so on.B) Extension of nonlinear control system design method such as sliding-mode control and so on.C) Advanced use of technique of artificial intelligence and soft computing and construction of intelligent control system architectureIn the project, it handled for the control problem of elevator, plant and robot and the vibration control problem of the machine and the aerospace structure, the architecture design and the design method of the control method based on the concept were examined from respect of the linear control approach, the nonlinear control approach, and the soft computing approach respectively. Moreover, the usefulness of the proposed method was verified by several computation simulations and experiments. In an existing control system design, it additionally diagnoses it by the loop of the outside of the control system. And, when some abnormalities are inferred, it interrupts the control and deals with the situation. On the other hand, because it connects to evaluate the control to the positive in the control loop and to secure safety positively in the proposed control technique, it is thought that it in the present study with improving the safety of an advanced mechanical system rapidly.