不安定な通信ネットワークを考慮した通信外乱オブザーバ内の制御対象モデルの配置方法

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/03/01

タイトル(英語): A Method for Allocation of System Model in Communication Disturbance Observer Considering Unstable Network

著者名: 兵頭　翔洋（慶應義塾大学理工学部システムデザイン工学科），大西　公平（慶應義塾大学理工学部システムデザイン工学科）

著者名(英語): Shoyo Hyodo (Department of System Design Engineering, Keio University), Kouhei Ohnishi (Department of System Design Engineering, Keio University)

キーワード: むだ時間，変動通信遅延，パケットロス，通信外乱オブザーバ，ロバスト安定性，定常偏差　　time delay，time-varying delay，packet dropouts，communiation disturbance observer，robust stability，steady-state error

要約(英語): Time delay problem used to be dealt mainly in process or plant engineering in the early phase of time delay systems research. In recent years, time delay problem in network-based control systems has been attracting much attention. This kind of network is usually unstable, and time delay is time varying and unpredictable. As a time delay compensation method, Smith predictor was a famous and useful approach. However, this method uses time delay model to compensate for time delay effect and so it is not a practical method for network-based control systems. Thus, communication disturbance observer (CDOB) has been proposed to compensate for time delay effect without using a time delay model. However, a large steady state error occurs, if the network is unstable. This paper modifies the structure of a time-delayed control system with CDOB considering an unstable network. To reduce nonlinear effects such as jitter or packet dropouts, the allocation of the system model in the CDOB has been modified. Then, the robustness of the modified CDOB structure against packet dropouts and jitter is confirmed by simulation. The validity of the modified structure is shown by experimental results.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.3 （2015） 特集：産業計測制御，メカトロニクス制御

本誌掲載ページ: 192-198 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/ieejias/135/3/135_192/_article/-char/ja/