ロバスト性を考慮したデータ駆動型二自由度制御系の一設計

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: 2019/11/01

タイトル(英語): Design of a Data-Driven Two-Degree-of-Freedom Control System Considering Robustness

著者名: 榊　歩夢（広島大学大学院工学研究科），木下　拓矢（広島大学大学院工学研究科），山本　透（広島大学大学院工学研究科）

著者名(英語): Ayumu Sakaki (Graduate School of Engineering, Hiroshima University), Takuya Kinoshita (Graduate School of Engineering, Hiroshima University), Toru Yamamoto (Graduate School of Engineering, Hiroshima University)

キーワード: データ駆動型制御，二自由度制御系，擬似外生信号，ロバスト性，安定余裕，感度関数　　data-driven control，two-degree-of-freedom control system，fictitious exogenous signal，robustness，stability margin，sensitivity function

要約(英語): Virtual reference feedback tuning (VRFT) and fictitious reference iterative tuning (FRIT) are well-known as the data-driven tuning schemes for directly designing feedback controllers. These schemes have been already extended to two-degree-of-freedom (2DOF) control systems in recent years. The conventional design schemes of 2DOF controllers need a complicated two-stage tuning process. This paper describes a one-stage tuning scheme for the 2DOF control system using a fictitious exogenous signal based on a data-driven method. In the proposed scheme, 2DOF controllers are designed with one criterion, and the least squares method is applied to find the optimal set of 2DOF controller parameters. According to the proposed scheme, the reference models are determined based on the stability margin that is quantified by the sensitivity function. It is also possible to design a control system taking robustness into account. Finally, the effectiveness of the proposed scheme is numerically verified by using a simulation example.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.139 No.11 （2019）特集Ⅰ：国際会議ICESS 2018　特集Ⅱ：電気関係学会関西連合大会

本誌掲載ページ: 1285-1292 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/139/11/139_1285/_article/-char/ja/