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FRIT for Systems with Dead-Zone and Its Application to Ultrasonic Motors

FRIT for Systems with Dead-Zone and Its Application to Ultrasonic Motors

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カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/06/01

タイトル(英語): FRIT for Systems with Dead-Zone and Its Application to Ultrasonic Motors

著者名: Yuji Wakasa (Graduate School of Science and Engineering, Yamaguchi University), Shinji Kanagawa (Graduate School of Science and Engineering, Yamaguchi University), Kanya Tanaka (Graduate School of Science and Engineering, Yamaguchi University), Yuki Nishimura (Graduate School of Science and Engineering, Yamaguchi University)

著者名(英語): Yuji Wakasa (Graduate School of Science and Engineering, Yamaguchi University), Shinji Kanagawa (Graduate School of Science and Engineering, Yamaguchi University), Kanya Tanaka (Graduate School of Science and Engineering, Yamaguchi University), Yuki Nishimura (Graduate School of Science and Engineering, Yamaguchi University)

キーワード: Fictitious reference iterative turning,PID control,Ultrasonic motor,Dead-zone,Covariance matrix adaptation evolution strategy

要約(英語): Ultrasonic motors (USMs) intrinsically have a dead-zone property which is sensitive to load changes. This paper proposes a fictitious reference iterative tuning (FRIT) method for systems with a dead-zone property such as USMs. The standard FRIT method is basically developed for linear systems and may not give a satisfactory control performance for noninvertible nonlinear systems including USMs. In contrast, the proposed FRIT method can achieve such a performance by introducing a right inverse of a dead-zone function as a dead-zone compensator. In the optimization process of FRIT, the so-called covariance matrix adaptation evolution strategy (CMA-ES) is used for simultaneously searching a dead-zone parameter as well as controller parameters. CMA-ES is a kind of stochastic multi-point search techniques and is effective for nondifferentiable and nonconvex optimization problems. Experimental results for a USM are given to show the effectiveness of the proposed method.

本誌: 電気学会論文誌C(電子・情報・システム部門誌) Vol.131 No.6 (2011) 特集:圧電材料・デバイス

本誌掲載ページ: 1209-1216 p

原稿種別: 論文/英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/6/131_6_1209/_article/-char/ja/

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