可変構造を持つダイナミクスの離散化誤差低減とFPGAを用いた実現

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: 2012/07/01

タイトル(英語): Reduction of Discretization Errors of Dynamics with Variable Structures and Its Realization using FPGA

著者名: 金田　泰昌（東京工業大学大学院理工学研究科／東京都立産業技術研究センター），入月　康晴（東京都立産業技術研究センター），貞弘　晃宜（佐世保高等専門学校），山北　昌毅（東京工業大学大学院理工学研究科）

著者名(英語): Yasuaki Kaneda (Graduate School of Science and Engineering, Tokyo Institute of Technology/Tokyo Metropolitan Industrial Technology Research Institute), Yasuharu Irizuki (Tokyo Metropolitan Industrial Technology Research Institute), Teruyoshi Sadahiro (Sasebo National College of Technology), Masaki Yamakita (Graduate School of Science and Engineering, Tokyo Institute of Technology)

キーワード: 離散化，可変構造システム，リチャードソン補外，非整数遅延，FPGA　　discretization，variable structure system，Richardson extrapolation，fractional delay，FPGA

要約(英語): In order to discretize continuous dynamics with variable structures, Euler integrators are often used. However, Euler integrators include large discretization errors, so that they deteriorate performances of the discretized dynamics. Use of Richardson extrapolation (RE) and fractional delay (FD) can reduce the discretization errors. However, Euler integrators using RE and FD directly have infinite gains at their Nyquist frequencies, and they are unsuitable for integrations of the dynamics with variable structures. In this paper, we propose an improved integrator which is suitable for integrations of the dynamics with variable structures. The proposed method consists of a high forward gain and a feedback structure with a high-precision differentiator. To realize the high-precision differentiator, RE and a high sampling rate (HSR) instead of FD are used, and those are implemented by FPGA. Its effectiveness is verified by software simulations, hardware in the loop (HIL) simulations, and experiments.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.132 No.7 （2012） 特集：平成23年電気学会電子・情報・システム部門大会

本誌掲載ページ: 1182-1190 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/132/7/132_1182/_article/-char/ja/