過渡応答に基づく姿勢制御系の解析

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  • A Posture Cantrol System Analysis Based on Transient Response

説明

To get a simple identification method of the posture control systems. We have developed a method based on transient responses. Slanted subject was supported by horizontal cable, which was suddenly released to get data of body angle and control moment during recovery action. By means of this identification method, we found 2nd order time delay- was necessary in addition to the conventional PD plus dead time controller. And we analyzed the identified system from the view point of lag time, loop gain, stability, and gain-and phase margins. Using these results, we can compare the posture control systems of three subjects quantitatively.

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