ノイズに対しロバストなpre-inverse適応システムとモーター制御への応用

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): A Noise Free Adaptive Pre-inverse System and Its Application to Motor Control

著者名: 小林　正樹（中部大学大学院　工学研究科），衣笠　保智（松江工業高等専門学校），笹岡　直人（鳥取大学大学院　工学研究科），伊藤　良生（鳥取大学大学院　工学研究科）

著者名(英語): Masaki Kobayashi (Graduate school of Engineering, Chubu University), Yasutomo Kinugasa (Matsue National College of Technology), Naoto Sasaoka (Graduate school of Engineering, Tottori University), Yoshio Itoh (Graduate school of Engineering, Tottori University)

キーワード: 適応フィルタ，ディジタル制御，モーター制御，自動制御，信号処理　　Adaptive Filter，Digital Control，Motor Control，Automatic Control，Signal Processing

要約(英語): In general, the adaptive system using the structure in which an adaptive filter is placed before the unknown system to estimate the inverse transfer function of the unknown system is called pre-inverse adaptive system. The equalizing type adaptive system that the weights of the adaptive transversal filter inserted after the unknown system are copied to the transversal filter inserted before the system is the representative example. The problem of this system is that the convergence value has the bias error since the adaptive parameters are updated to the direction where the estimation error including the noise was minimized. In this paper we consider a noise free equalizing type adaptive algorithm and its application to the adaptive control of the motor. The convergence of the control system is guaranteed under the assumption of the uncorrelated property of the noise, disturbance and the command input. Finally, these results of theoretical consideration are verified by computer simulation.

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: 1217-1222 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/6/131_6_1217/_article/-char/ja/