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

Research Project

Project/Area Number 09650473
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 計測・制御工学
Research InstitutionOsaka University

Principal Investigator

FUJII Takao  Graduate School of Engineering Science, Osaka University, Professor, 大学院・基礎工学研究科, 教授 (70029510)

Co-Investigator(Kenkyū-buntansha) TSUJINO Taro  Faculty of Engineering, Fukuoka Institute of Technology, Associate Professor, 工学部, 助教授 (00227406)
下村 卓  大阪大学, 大学院・基礎工学研究科, 助手 (40243191)
小原 敦美  大阪大学, 大学院・基礎工学研究科, 助教授 (90221168)
Project Period (FY) 1997 – 1999
Project Status Completed (Fiscal Year 1999)
Budget Amount *help
¥3,500,000 (Direct Cost: ¥3,500,000)
Fiscal Year 1999: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1998: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 1997: ¥2,500,000 (Direct Cost: ¥2,500,000)
KeywordsInverse 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
Research Abstract

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.

Report

(4 results)
  • 1999 Annual Research Report   Final Research Report Summary
  • 1998 Annual Research Report
  • 1997 Annual Research Report
  • Research Products

    (23 results)

All Other

All Publications (23 results)

  • [Publications] Ken'ichi Nakashima: "Application of H_∞ Control and Closed Loop Identification to a Multivariable Magnetic Levitation System"Proc. Of the 35th Allerton Conf. On Communication, Control, and Computing. 835-844 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 黒江祐希: "参照入力と制御対象を一般化したILQ最適サーボ系設計法"計測自動制御学会論文集. 34-3. 195-202 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 酒井雅也: "磁気浮上系の振動抑制を目的とした周波数整形ILQコントローラの設計"システム制御情報学会論文誌. 11-5. 267-276 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masaya Sakai: "Application of ILQ-based Frequency-Shaping Control to a Magnetic Levitation System"Proc. Of the 1998 IEEE International Conference on Control Applications. 593-597 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 塩出一洋: "周波数重み付き最適サーボ系設計への逆問題的アプローチ"システム制御情報学会論文誌. 11-10. 576-584 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 辻野太郎: "オブザーバを用いたロバスト追従制御系の設計-逆問題からの接近"システム制御情報学会論文誌. 12-6. 357-365 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Taro Tsujino: "Application of H_∞ Control and Closed Loop Identification to a Magnetic Levitation System"Asian Journal of Control. 1-4. 283-296 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 酒井雅也: "ループ整形機能を有するILQロバストサーボ系の解析的設計法"計測自動制御学会論文集. 36-4(掲載予定). (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Ken'ichi Nakashima: "Application of HィイD2∞ィエD2 Control and Closed Loop Identification to a Multivariable Magnetic Levitation System"Proc. of the 35th Allerton Conf. on Communication, Control, and Computing. 835-844 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Yuuki Kuroe: "Extension of ILQ Design Theory with Respect to Reference Inputs and Controlled Objects"Trans. of the Society of Instrument and Control Engineers. Vol.34-3. 195-202 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masaya Sakai: "Design of a Frequency-shaping ILQ Controller to Supperess Vibration in a Magnetic Levitation System"Trans. of the Institute of Systems, Control ans Information Engineers. Vol.11-5. 267-276 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masaya Sakai: "Application of ILQ-based Frequency-Shaping Control to a Magnetic Levitation System"Proc. of the 1998 IEEE International Conference on Control Applications. 593-597 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Kazuhiro Shiode: "An Inverse-LQ Approach to Design of Optimal Servo System with Frequency Weights"Trans. of the Institute of Systems, Control ans Information Engineers. Vol.11-10. 576-584 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Taro Tsujino: "Design of Observer-Based Robust Servo Systems from the Viewpoint of an Inverse Problem"Trans. of the Institute of Systems, Control ans Information Engineers. Vol.12-6. 357-365 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Taro Tsujino: "Application of HィイD2∞ィエD2 Control and Closed Loop Identification to a Magnetic Levitation System"Asian Journal of Control. Vol.1-4. 283-296 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masaya Sakai: "Design Method for ILQ Robust Servo System with Loop-Shaping"Trans. of the Society of Instrument and Control Engineers. Vol.36-4 (to appear). (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Taro Tsujino: "Application of H_∞ Control and Closed Loop Identification to a Magnetic Levitation System"Asian Journal of Contral. Vol.1,No.4. 283-296 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 酒井 雅也: "ループ整形機能を有する ILQ ロバストサーボ系の解析的設計法"計測自動制御学会論文集. 36・4(掲載予定). (2000)

    • Related Report
      1999 Annual Research Report
  • [Publications] 酒井雅也: "磁気浮上系の振動抑制を目的とした周波数整形ILQコントローラの設計" システム制御情報学会論文誌. 11・5. 267-276 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] M. Sakai: "ILQ-based LQG design method for frequency-shaping controller and its application to a magnetic levitation system" Proc. 7th IEEE Conference on Control Applications. 593-597 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] K.Nakashima: "Application of H_∞ control and Closed Loop Indentification to a Multivariable Magnetic Levitation System" Proc.35th Allerton Conf.on Communication,Control and Computing.

    • Related Report
      1997 Annual Research Report
  • [Publications] 黒江祐希: "参照入力と制御対象を一般化したILQ最適サーボ系設計法" 計測自動制御学会論文集. 34・3. (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] 酒井雅也: "磁気浮上系の振動抑制を目的とした周波数整形ILQコントローラの設計" システム制御情報学会論文集. 11・5. (1998)

    • Related Report
      1997 Annual Research Report

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Published: 1997-04-01   Modified: 2016-04-21  

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