書誌事項
- タイトル別名
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- 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
- 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
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<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>
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 33 (3), 87-94, 2020-03-15
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390003825187163776
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- NII論文ID
- 130007855002
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 030308152
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可