細粒度並列処理を用いた3自由度制御の実現

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: 2020/03/01

タイトル(英語): Realization of 3-Degree-of-Freedom Control using Fine-Grain Parallel Processing

著者名: 車谷　大揮（慶應義塾大学），桂　誠一郎（慶應義塾大学）

著者名(英語): Hiroki Kurumatani (Keio University), Seiichiro Katsura (Keio University)

キーワード: モーションコントロール，ロバスト制御，FPGA　　motion control，robust control，FPGA

要約(英語): The paper reports a sprout of 3-degree-of-freedom (DOF) control. The limitation of feedback control including 2-DOF control has been raised for a long time; however, a suitable control theory for overcoming those limitations has still not been formulated. An underlying reason is that the disturbance-suppression performance and noise sensitivity cannot be decoupled. Several researches have tried to tackle this problem using a hardware approach, as a noise level depends on a hardware configuration. It should be noted that the hardware design expands spatiotemporal resolution of a system. This approach helps in reducing noise, namely, it works as the 3rd-DOF for a control system. Therefore, an improvement in the hardware design could be a new angle for solving a mixed-sensitivity problem. This paper quantitatively presents the relation between noise-reduction performance and the spatiotemporal resolution, and provides a foothold for the 3-DOF control.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.140 No.3 （2020） 特集：半導体電力変換研究会

本誌掲載ページ: 220-229 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/140/3/140_220/_article/-char/ja/