| Project/Area Number |
01550323
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
計測・制御工学
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| Research Institution | Chiba University, Faculty of Engineering |
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Principal Investigator |
MITA Tsutomu Chiba Univ., Engrg., Professor, 工学部 (60092102)
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| Project Period (FY) |
1989 – 1990
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| Project Status |
Completed (Fiscal Year 1990)
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| Budget Amount *help |
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 1990: ¥300,000 (Direct Cost: ¥300,000)
Fiscal Year 1989: ¥1,900,000 (Direct Cost: ¥1,900,000)
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| Keywords | Two-dealy control / Digital control / Robust control / H infinity control / Zeros / nstable zeros / H無限制御 / 2-Delay制御 / 離散化零点 |
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| Research Abstract |
In this research we have investigated the theory of 2-delay digital robust control and have applied obtained results to a motor control in order to confirm the ability of the 2-delay control.
The sampling action is introduced to the digital control in order to make the changing of control law flexible. But this sampling causes a drawback such that the discrete-time system has unstable zeros even the continuous-time plant is minimal phase. Those unstable zeros make the robustness in any meaning of the digital control system inferior.
To get around the problem we have proposed the 2-delay digital control method in which the output signal at the inter-sampling point is measured as an auxiliary output in addition to the measurement of the output at the ordinary sampling point. If such a method is introduced the zeros can be assignable and the problem mentioned is solved. We have got the following results in this research
1) We have realized a stable inverse system using 2-delay control
2) We have constructed a robust digital control system even when the state variables are inaccessible
3) We have shown the minimum H* norm of the complementary sensitivity function.
4) Many experiments in a DC motor control have shown robustness properties of 2-delay control
5) Many new theoretical results have been obtained in studies on H* control theory
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