入力項にむだ時間のある系の出力追従誤差の最小化

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: 2017/01/01

タイトル(英語): Minimization of Output Tracking Errors of Systems with Time-Delay in Input Term

著者名: 井上　昭（岡山大学），逸見　知弘（国立高等専門学校機構　香川高専），吉永　慎一（国立高等専門学校機構　香川高専），鄧　明聡（東京農工大学）

著者名(英語): Akira Inoue (Okayama University), Tomohiro Henmi (National Institute of Technology, Kagawa College), Shin-ich Yoshinaga (National Institute of Technology, Kagawa College), Mingcong Deng (Tokyo University of Agriculture and Technology)

キーワード: むだ時間系，入力項のむだ時間，評価関数最小化，PID制御器　　Time-delay system，time-delay in input，minimization of performance index，PID controller

要約(英語): In many cases, real plants have time-delay in control inputs. For example, PID controllers are designed by approximating the plant as a 1st order+time delay. In such plants, effects of feedback control inputs do not directly appear and the control of the systems is difficult. To control systems having time-delay effectively enhances safety of systems, makes mechanical systems applicable to caring of humans safely and contributes life-innovations. If a way to calculate the sum of squared tracking errors of outputs is obtained, then the minimization of the sum is easily calculated and an optimal control for such systems is straightforwardly obtained. This paper proposes a calculating method for the sum of output errors by (1) expressing the time delay system in a state-space equation, (2) calculating the sum by solving a Lyapunov matrix equation and (3) in solving the matrix equation, obtaining mathematical expressions of converted equations to linear equations and a matrix inversion by using symbolic computation software in beforehand. Also, for an example, optimal PID gains for 1st-order + time delsy system is obtained and numerical simulations are given.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.137 No.1 （2017） 大特集：電子・情報・システム部門誌 30周年記念「電子・情報・システム技術によるイノベーション」

本誌掲載ページ: 54-59 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/137/1/137_54/_article/-char/ja/