Synthesis of <i>H<sub>∞</sub></i><i><sub> </sub></i>Controller based on Analytical Solution for Infinite Inertia Ratio in Disturbance Suppression Problem of Two-inertia System with High Inertia Ratio

DOI Web Site Web Site

Bibliographic Information

Other Title
  • 高慣性比二慣性系の外乱抑制問題に対する慣性比<sub>∞ </sub>の解析解に基づく<i>H<sub>∞ </sub></i>補償器の構成
  • 高慣性比二慣性系の外乱抑制問題に対する慣性比∞の解析解に基づくH[∞]補償器の構成
  • コウカンセイヒ ニ カンセイケイ ノ ガイラン ヨクセイ モンダイ ニ タイスル カンセイヒ ∞ ノ カイセキカイ ニ モトズク H[∞]ホショウキ ノ コウセイ

Search this article

Abstract

<p>This paper proposes, for two-inertia system of low stiffness and high inertia ratio, a design method of a proportional controller that minimizes the closed-loop H∞ norm from the disturbance torque applied to the driven-side inertia to the driven-side angular velocity. The controller is to generate the driving-side torque by using the driving- and driven-side angular velocities, and is composed of two proportional coefficients configured by a simple calculation law which explicitly depends on the physical parameters. The method is based on the fact that the optimal H∞ controller is analytically derived for the case with infinite inertia ratio, and the controller for finite-inertia-ratio case is similarly given along with the derivation process by introducing an approximation due to high inertia ratio. Numerical examples show that the degradation in H∞ norm from the optimal solution is less than 0.02 dB for high inertia ratio of 10 or more. Control experiments show the validity of the proposed method.</p>

Journal

Keywords

Details 詳細情報について

Report a problem

Back to top