時間軸反転による状態変数軌道生成とマルチレートフィードフォワードを用いた完全追従制御法

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: 2017/06/01

タイトル(英語): Perfect Tracking Control Method by Multirate Feedforward and State Trajectory Generation based on Time Axis Reversal

著者名: 大西　亘（東京大学大学院工学系研究科），藤本　博志（東京大学大学院工学系研究科）

著者名(英語): Wataru Ohnishi (Graduate School of Engineering, The University of Tokyo), Hiroshi Fujimoto (Graduate School of Engineering, The University of Tokyo)

キーワード: 時間軸反転，マルチレートフィードフォワード，不安定真性零点，不安定離散化零点　　time axis reversal，multirate feedforward，unstable intrinsic zeros，unstable discretization zeros

要約(英語): A plant with unstable zeros is known as difficult to control because of initial undershoot of step response and unstable poles of its inversion system. There are two reasons why a plant has unstable zeros in a discrete time domain: 1) non collocation of actuators and sensors and 2) discretization by zero-order hold. Problem 2) has been solved using the perfect tracking control (PTC) method based on multirate feedforward control proposed by our research group. However, the conventional PTC method cannot achieve the perfect tracking for a plant with continuous-time unstable zeros because of the divergence of the desired state trajectories. This paper proposes a preactuation perfect tracking control (PPTC) method to solve problem 1) through the state trajectory generation based on a time axis reversal. The validity of the proposed method is demonstrated through simulations in comparison with three single-rate feedforward control methods.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.137 No.6 （2017）

本誌掲載ページ: 469-477 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/137/6/137_469/_article/-char/ja/