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Research on the development for the design method of robust servo systems from the viewpoint of the inverse problem and its application to a magnetic levitation system

Research Project

Project/Area Number 05650411
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 計測・制御工学
Research InstitutionKyushu Institute of Technology

Principal Investigator

FUJII Takao  Kyushu Inst.of Tech., Dept.Control Engg.&Sci., Professor, 情報工学部, 教授 (70029510)

Co-Investigator(Kenkyū-buntansha) TSUJINO Taro  Kyushu Inst.of Tech., Dept.Control Engg.&Sci., Research Associate, 情報工学部, 助手 (00227406)
Project Period (FY) 1993 – 1994
Project Status Completed (Fiscal Year 1994)
Budget Amount *help
¥2,200,000 (Direct Cost: ¥2,200,000)
Fiscal Year 1994: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1993: ¥1,700,000 (Direct Cost: ¥1,700,000)
KeywordsControl of a magnetic levitation system / Robust control / Multivariable control / Decoupling control / Servo system / Optimal control / Inverse problem of optimal control / ILQ design method
Research Abstract

The purpose of this research is that we develop a design method of robust servo systems from the viewpoint of the inverse problem and apply it to a control problem of a magnetic levitation system in order to clarify its effectiveness and its problem and furthermore improve the method if necessary. In order to achieve this purpose, we applied the Robust ILQ design method developed by us to the control problem of the magnetic levitation system with a Y shape iron plate as a levitation vehicle last year. As a result we succeeded in a control experiment of its very stable levitation and attitude with an application of step change in a set point. We, however, found it that an unstable motion happened due to the modelling errors which was arisen from nonlinearity and modes of vibration neglected in modelling when an impulse disturbance was applied. We first try to solve this problem this year and take measures against two kinds of modelling errors. Against the former modelling error we made … More a model of the magnetic levitation system by using exact linearization technique, which is useful as was pointed out recently, instead of approximate linearization technique and then design a control system and did a control experiment. As a result its performance was a little improved. The unstable motion caused by an impulse disturbance, however, was not suppressed. On the other hand against the former modelling error we use H_* control theory, which can take it into account in the control system design, and design the control system. Then a controller was designed in order to suppress the unstable motion caused by an impulse desturbance with an application of small step change in a set point. It, however, could not be designed with an application of large step change in a set point. In order to grasp the effectiveness of exact linearization technique correctly, we did a similar levitation control experiment with a very rigid barbel shape levitation vehicle and verified that a simulation result and an experimental result based on the exactly linearized model was more consistent than that based on the linear approximation model. Based on the above-mentioned information we extended the ILQ optimal servo system design method this year. So far this design method have taken only a step reference input into consideration and a controller obtained by using the method therefore had low order and it prevented the performance of the control system from being improved. Hence, we generalized ILQ optimal servo design method with respect to the reference input and developed its CAD this year. Less

Report

(3 results)
  • 1994 Annual Research Report   Final Research Report Summary
  • 1993 Annual Research Report
  • Research Products

    (49 results)

All Other

All Publications (49 results)

  • [Publications] 藤井隆雄: "多変数磁気浮上系のロバスト非干渉制御" 第22回制御理論シンポジウム資料. 97-102 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 村田義和: "Y字型鉄片の磁気浮上制御" 第32回計測自動制御学会学術講演会予稿集. 495-496 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 末松健一: "ILQ設計法によるY字型鉄片の磁気浮上制御-非線形性の緩和-" 第12回計測自動制御学会九州支部学術講演会予稿集. 175-178 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 藤井隆雄: "ILQ最適サーボ系設計法の一般化-参照入力の一般化-" 第32回計測自動制御学会学術講演会予稿集. 833-834 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Fujii: "Design of Tracking Systems with LQ Optimality and Quadratic Stability" Proc. of the 12th IFAC World Congress. 2. 479-486 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 下村卓: "ILQ法における制御則の解析表現と閉ループ伝達関数行列の漸近特性" 第36回計測自動制御連合講演会前刷. 91-94 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 中島健一: "ILQ設計法によるバ-ベル型浮上体の磁気浮上制御" 第39回システム制御情報学会研究発表講演会講演論文集. (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 末松健一: "ILQ設計法の多変数磁気浮上系への応用" 計測自動制御学会論文集. 31. (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 下村卓: "ILQ最適サーボ系設計法の非最小位相系への拡張" システム制御情報学会論文誌. 6. 498-507 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Fujii: "Multivariable Control of a Magnetic Levitation System with a Y Shape Iron Plate" Preprint of the 3rd IFAC Symp. on Advances in Control Education. 25-28 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 藤井隆雄: "最適サーボ系における補償器の内部構造と設計への応用" システム制御情報学会論文誌. 7. 388-390 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 黒江祐希: "参照入力を一般化したILQ最適サーボ系設計法" 第13回計測自動制御学会九州支部学術講演会予稿集. 3-6 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 中島健一: "厳密な線形化を用いたY字型鉄片の磁気浮上制御" 第13回計測自動制御学会九州支部学術講演会予稿集. 91-94 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 黒江祐希: "参照入力を一般化したILQ最適サーボ系設計法" 第39回システム制御情報学会研究発表講演会講演論文集. (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 木村英紀: "ロバスト制御" コロナ社, 198 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 藤井隆雄監訳: "フィードバック制御の理論" コロナ社, 252 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Fujii: "Robusr Decoupling Control of multivariable magnetic levitation system" Proc.of the 22nd SICE Symp.on Control Theory. 97-102 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y.Murata: "Control of a Magnetic Levitation System with a Y Shape Iron Plate" Proc.of the 32nd SICE Annnual Conference Domestic Session. 495-496 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K.Suematsu: "Control of a magnetic levitation system with a Y shape iron plate using ILQ method-Reduction of the nonlinearity-" Proc.of the 12th SICE Kyushu Branch Annual Conference. 175-178 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Fujii: "Generalization of ILQ optimal servo design method with respect to the reference input" Proc.of the 32nd SICE Annual Conference Domestic Session. 833-834 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Fujii: "Design of Tracking Systems with LQ Optimality and Quadratic Stability" Proc.of the 12th IFAC World Congress. vol.2. 479-486 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Shimomura: "Analytic Description of Control Law and Asymptotic Property of Closed-Loop Transfer Function" The 36th Preprint of Japan Joint Automatic Control Conference. 91-94 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Shimomura: "Extension of ILQ Method to Non-Minimum Phase System for the Design of Optimal Servo Systems" Trans.of ISCIE. vol.6, No.11. 498-507 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Fujii: "Multivariable Control of a Magnetic Levitation System with a Y Shape Iron Plate" Preprint of the 3rd IFAC Symp.on Advances in Control Education. 25-28 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Fujii: "Controller Structure of Optimal Servo Systems and Its Application to Design" Trans.of ISCIE. vol.7, No.9. 388-390 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y.Kuroe: "ILQ Optimal Servo System Design Method-Generalized Reference Input Case-" Proc.of the 13th SICE Kyushu Branch Annual Conference. 3-6 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K.Nakashima: "Control of a magnetic levitation system with a Y shape iron plate using exact linearization" Proc.of the 13th SICE Kyushu Branch Annual Conference. 91-94 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Y.Kuroe: "ILQ Optimal Servo System Design Method-Generalized Reference Input Case-" to be published in Proc.of the 39th ISCIE Annual Conference. (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K.Nakashima: "Control of a magnetic levitation system with a barbel shape levitation vehicle using ILQ method" to be published in Proc.of the 39th ISCIE Annual Conference. (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] K.Suemastu: "Application of ILQ design method to a multivariable magnetic levitation system" to be published in Trans.of SICE. vol.31, No.9. (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] H.Kimura: Robust Control. Corona Publishing Co., Ltd., 198 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T.Fujii (a general ed.of translation): Feedback Control Theory. to be published in Corona Publishing Co., Ltd., 252 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] T. Fujii: "Multivariable Control of a Magnetic Levitation System with aY Shape Iron Plate" Preprint of 3rd IFAC Symp. on Advances in Control Education. 25-28 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 藤井 隆雄: "最適サーボ系における補償器の内部構造と設計への応用" システム制御情報学会論文誌. 7. 388-390 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 黒江 祐希: "参照入力を一般化したILQ最適サーボ系設計法" 第13回計測自動制御学会九州支部学術講演会予稿集. 3-6 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 中島 健一: "厳密な線形化を用いたY字型鉄片の磁気浮上制御" 第13回計測自動制御学会九州支部学術講演会予稿集. 91-94 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 黒江 祐希: "参照入力を一般化したILQ最適サーボ系設計法" 第39回システム制御情報学会研究発表講演会講演論文集. (1995)

    • Related Report
      1994 Annual Research Report
  • [Publications] 中島 健一: "ILQ設計法によるバ-ベル型浮上体の磁気浮上制御" 第39回システム制御情報学会研究発表講演会講演論文集. (1995)

    • Related Report
      1994 Annual Research Report
  • [Publications] 末松 健一: "ILQ設計法の多変数磁気浮上系への応用" 計測自動制御学会論文集. 31. (1995)

    • Related Report
      1994 Annual Research Report
  • [Publications] 木村 英紀: "ロバスト制御" コロナ社, 198 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 藤井 隆雄 監訳: "フィードバック制御の理論" コロナ社, 252 (1995)

    • Related Report
      1994 Annual Research Report
  • [Publications] 藤井 隆雄: "多変数磁気浮上系のロバスト非干渉制御" 第22回 制御理論シンポジウム 資料. 97-102 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 村田 義和: "Y字型鉄片の磁気浮上制御" 第32回 計測自動制御学会学術講演会予稿集. 495-496 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 末松 健一: "ILQ設計法によるY字型鉄片の磁気浮上制御-非線形性の緩和-" 第12回 計測自動制御学会九州支部学術講演会予稿集. 175-178 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] T.Fujii: "Multivariable Control of a Magnetic Levitation System with a Y Shape Iron Plate" Proc.of 3rd IFACSymp.on Advances in Control Education. (1994)

    • Related Report
      1993 Annual Research Report
  • [Publications] 藤井 隆雄: "ILQ最適サーボ系設計法の一般化-参照入力の一般化" 第32回 計測自動制御学会学術講演会予稿集. 833-834 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 下村 卓: "ILQ法における制御則の解析表現と閉ループ伝達関数行列の漸近特性" 第36回 計測自動制御連合講演会前刷. 91-94 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 下村 卓: "ILQ最適サーボ系設計法の非最小位相系への拡張" システム制御情報学会論文誌. 6. 498-507 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] T.Fujii: "Design of Tracking Systems with LQ Optimality and Quadratic Stability" Proc.of 12th IFAC World Congress. 2. 479-504 (1993)

    • Related Report
      1993 Annual Research Report

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Published: 1993-04-01   Modified: 2016-04-21  

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