Research on Practical Design Method for Vibration Control of a Magnetic Levitation System by Application of Inverse Problem

应用反问题的磁悬浮系统振动控制实用设计方法研究

基本信息

批准号：
09650473
负责人：
FUJII Takao
金额：
$ 2.24万
依托单位：
Osaka 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-09650473/
关键词：
Inverse problem Magnetic levitation HィイD2∞ィエD2 control Closed loop identification Frequency-shaping ILQ control Spillover Servo system 最適制御 ILQ オブザーバ磁気浮上制御 H∽ 制御厳密線形化ロバスト制御厳密な線形化

项目摘要

For the last three years we have tackled several problems in order to obtain a robust control design method for vibration control of a magnetic levitation system from the viewpoint of practicality and inverse problem.First, as its basis, we have established a consistent method to estimate unmodeled dynamics using closed loop identification, and then design a vibration control system using HィイD2∞ィエD2 control theory. As a result, it turned out that it is vital for suppression of spillover to shape the frequency gain characteristics of the closed-loop transfer function from sensor noise to output, called as the complementary sensitivity function, so as to have that of a notch filter.Based on this observation, we have reconsidered the basic results obtained above form the viewpoint of practicality, and tried to extend the existing useful ILQ design method so as to treat the above frequency shaping problem. The key to it lies in the extension of a usual state observer used in ILQ design to linear function observer by introducing an additional design freedom. In both cases of full-order and minimal-order state observers, we have clarified analytically the class of complementary sensitivity functions that can be shaped by the ILQ controller with such a design freedom of observer. We then proposed a novel frequency shaping method using this type of controllers, and confirmed its usefulness experimentally. As a result, we have succeeded in designing a low-order controller of dimension as reduced by one third, compared with the HィイD2∞ィエD2 controller. In the case of minimal order observer, moreover, we have proposed a two-step design method achieving nominal performance first and robust performance afterward by utilizing an additional design freedom. In this design, the resulting controller turned out to have lower dimension, compared with the one based on a full-order observer.

在过去的三年中，我们已经解决了几个问题，以便从实用性和逆问题的角度获得强大的控制设计方法，用于振动控制磁性悬浮系统。首先，我们已经建立了一种一致的方法，可以使用HII D2∞D2Control Toection使用HII D2D22222的振动控制系统来估算未建模的动态，然后使用封闭的LOOP识别系统进行设计。结果，事实证明，抑制Spilover至关重要的是塑造从传感器噪声到输出的闭环转移功能的频率增益特征，称为互补的灵敏度功能，以便具有凹口滤波器的函数。基于该观察值，这一观察结果是在此观察结果上，我们重新考虑了上面的基本结果，以将实际的频率扩展到现有的频率上，并远程构成了实际的方法。它的关键在于，通过引入附加的设计自由来扩展ILQ设计中通常的状态观察者来线性函数观察者。在全阶和最小状态观察者的情况下，我们都通过分析阐明了互补灵敏度函数类别，这些互补敏感性函数可以由ILQ控制器以这种观察者的设计自由来塑造。然后，我们使用这种类型的控制器提出了一种新型的频率塑形方法，并通过实验确认了其有用性。结果，与HYID2∞D2控制器相比，我们成功地设计了一个尺寸的低阶控制器，减少了三分之一。此外，在最小秩序观察者的情况下，我们提出了一种两步设计方法，首先通过使用额外的设计自由来实现名义性能，并通过使用额外的设计自由度来实现名义性能。在此设计中，与基于全阶观察者相比，结果控制器的尺寸较低。