Intelligent Mechanical Earth by HィイD22ィエD2/HィイD2∞ィエD2 Control : Experiment and Digital Signal Processing

HiiD22ieD2/HiiiD2∞ieD2 控制的智能机械地球：实验和数字信号处理

• 批准号: 09650463
• 负责人: SUGIMOTO Kenji
• 金额: $ 2.11万
• 依托单位: Nagoya University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1999
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650463/
• 关键词: Mechanical earth; HィイD2∞ィエD2 control; LQ regulator; Digital signal processing; Optimal control; System design; Vibration control; 位相特性; H_∞制御(H-infinity制御); 混合制御; サンプル値制御理論; H_2制御; H∞制御; Mechanical earth; HィイD2∞ィエD2 control; LQ regulator; Digital signal processing; Optimal control; System design; Vibration control; 位相特性; H_∞制御(H-infinity制御); 混合制御; サンプル値制御理論; H_2制御; H∞制御

This research consists of control experiment based upon a new concept called mechanical earth, and theoretical work on HィイD22ィエD2/HィイD2∞ィエD2 control as well as digital signal processing for implementation. More specifically, our main toptics have been as follows :1. We have completed the polynomial ILQ design theory, a special kind of HィイD22ィエD2 control, and solved the inverse problem of sampled-data LQ control numerically, in relation to the digital signal processing for implementation.2. We have developed a control law which combines quadratic stabilization with dominant pole placement, and shown theoretically that under some coudition this is indeed implementable.3. We have developed a design method for dynamic state feedback law which achieves HィイD2∞ィエD2 control and partial pole placement simultaneously.4. In HィイD22ィエD2/HィイD2∞ィエD2 control, we have partially given a numerical solution for the singular problem ; I.e., the case where the performance index does not satisfy standard assumptions.5. When implementing a control law, we need to transform between continuous- and discrete-time signals via sampling. We have analyzed the effect of this transformation in terms of γ-positive realness (an extention of HィイD2∞ィエD2 control). However, further investigation such as phase property has not been fully performed.6. In view of an excellent frequency property possessed by HィイD22ィエD2 or LQ control, we have generalized the poly-nomial ILQ method into a method for achieving stability margin assignment and partial pole placement simultaneously.7. We have composed an experimental setup and performed control experiment. Although we could confirm the function of the control system, we have found out. That the acceleration sensor and the piezo actuator are not sufficient to our objective. Further investigation is needed for a practical control system.

这项研究包括基于一个名为Mechanical Earth的新概念的控制实验，以及HQ D22/HQD2∞D2控制以及用于实施的数字信号处理的理论工作。更具体地说，我们的主要台面如下：1。我们已经完成了多项式ILQ设计理论，一种特殊的HQ D22控件，并与实现数字信号处理有关。2。我们已经制定了一种控制法律，该法律结合了二次稳定和主要的极点位置，并表明理论上确实实施了这一点。3。我们已经开发了一种用于动态状态反馈定律的设计方法，该法可以简单地实现HIID2∞D2控制和部分极点位置。4。在HII D22/HIID2∞D2控制中，我们为单数问题提供了部分数值解决方案。即，性能指数不满足标准假设的情况。5。在实施控制法时，我们需要通过采样在连续和离散的时间信号之间进行转换。我们已经根据γ阳性真实性（HIID2∞D2对照的程度）分析了这种转化的效果。但是，尚未完全进行诸如相位属性之类的进一步研究。6。鉴于HII D22E D2或LQ控制所具有的出色频率属性，我们将多名iLQ方法概括为实现稳定缘分配和部分极点位置的方法。7。我们组成了实验设置并进行了对照实验。尽管我们可以确认控制系统的功能，但我们已经发现。加速传感器和压电执行器不足以满足我们的目标。实用控制系统需要进一步研究。