最適化問題の可解性を利用した制御パラメータの安定範囲算出とパラメータ調整の効率化

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: 2018/05/01

タイトル(英語): Calculation of Stable Control Parameter Area Considering Solvability of Optimization Problem and Efficiency Improvement of Manual Parameter Tuning

著者名: 前田　佳弘（名古屋工業大学大学院 工学研究科 電気・機械工学専攻），郷　直樹（名古屋工業大学大学院 工学研究科 電気・機械工学専攻），岩崎　誠（名古屋工業大学大学院 工学研究科 電気・機械工学専攻）

著者名(英語): Yoshihiro Maeda (Department of Electrical and Mechanical Engineering,Nagoya Institute of Technology), Naoki Gou (Department of Electrical and Mechanical Engineering,Nagoya Institute of Technology), Makoto Iwasaki (Department of Electrical and Mechanical E

キーワード: フィードバック制御器，パラメータ調整，最適化問題，安定性，可解性，安定パラメータ範囲　　feedback controller，parameter tuning，optimization problem，stability，solvability，stable parameter area

要約(英語): This paper presents an efficient manual control parameter tuning for positioning controllers in high-performance industrial mechatronic systems. Owing to the complexity of control theory, manual parameter tuning is generally performed by engineers who are unfamiliar with the theory. For instance, the control stability (i.e., gain margin and phase margin) in a feedback (FB) control system often deteriorates the tuning efficiency (time for tuning) due to the trade-off between stability and control bandwidth. Therefore, it takes a long time to acquire expert tuning skills by the trial and error method, which is based on human intelligence. In this study, we propose an optimization problem-based technique for the calculation of a stable FB control parameter area to give unskilled adjusters a visual area of stable parameters, in order to improve the tuning efficiency. The effectiveness of the proposed approach is verified by conducting experiments with a FB controller for the fast and precise positioning control of a galvano scanner.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.138 No.5 （2018） 特集：平成29年産業応用部門大会

本誌掲載ページ: 392-401 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/138/5/138_392/_article/-char/ja/