| Project/Area Number |
09650264
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Chiba University |
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Principal Investigator |
NONAMI Kenzo Chiba University, Dept.Electronics and Mech.Eng., Prof., 工学部, 教授 (30143259)
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| Co-Investigator(Kenkyū-buntansha) |
HIRATA Mitsuo Chiba University, Dept.Electronics and Mech.Research.Asso., 工学部, 助手 (50282447)
NISHIMURA Hidekazu Chiba University, Dept.Electronics and Mech.Asso.Prof., 工学部, 助教授 (70228229)
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| Project Period (FY) |
1997 – 1998
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| Project Status |
Completed (Fiscal Year 1998)
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| Budget Amount *help |
¥3,800,000 (Direct Cost: ¥3,800,000)
Fiscal Year 1998: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1997: ¥3,000,000 (Direct Cost: ¥3,000,000)
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| Keywords | Sliding Mode Control / Linear Matrix Inequality / Gain-Schedulling / Schedulled Hyperplane / Time Varying System / Lyapunov Stability Theorem / Magnetic Bearing / Gyroscopic Effect |
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| Research Abstract |
A variable structure system or sliding mode control uses a discontinuous control structure to control nonlinear systems. It is a powerful control method with increasing application in many areas of control engineering. Gain scheduling is a special type of nonlinear feedback used in a variety of control. Recent advances in robust control theory have offered a new theoretical framework and systematic gain scheduling.
A linerar parameter-varying (LPV) plant definition can be described as model of linear time-varying plants or nonlinear plants which are linearized using a vector of a time-varying parameter, such as theta(t). Using LPV plant definition, the gain scheduled H_* contol design is extensively presented in terms of linear matrix inequalitiees (LMI's), the solution of which are within the scope of efficient convex optimization techniques. Here, our aims are to extend this approach to designing a sliding mode hyperplane and applying it to a practical system. All definitions and theorems given for LPV plants are also valid in our study and will not be repeated here.
This reserach project deals with slidiing mode hyperplane design for a class of linearr parameter-varying (LPV) plants, the state-space matrices' of which are an affine function of time varying physical parameters. The proposed hyperplane, involving a linear matrix inequality (LMI) approach, has continuous dynamics due to scheduling parameters and provides stability and robustness against parametric uncertainties, We have designcd a time-varying hyperplane for a rotor-magnetic bearing system with a gyroscopic effect, which can be considered an LPV plant due to parameter dependence on rotational speed. The obtained hyperplane is continuously scheduled with respect to rotational speed. We successfully carried out experiments using a commercially available turbomolecular pump system and results were reasonable and good.
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