| Project/Area Number |
61550289
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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 | TOHOKU UNIVERSITY |
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Principal Investigator |
TAKEDA Hiroshi Faculty of Eng., Tohoku Univ., Professor, 工学部, 教授 (60005220)
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| Co-Investigator(Kenkyū-buntansha) |
ISHIHARA Tadashi Faculty of Eng., Tohoku Univ., Associate Professor, 工学部, 助教授 (10134016)
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| Project Period (FY) |
1986 – 1987
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| Project Status |
Completed (Fiscal Year 1987)
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| Budget Amount *help |
¥1,700,000 (Direct Cost: ¥1,700,000)
Fiscal Year 1987: ¥400,000 (Direct Cost: ¥400,000)
Fiscal Year 1986: ¥1,300,000 (Direct Cost: ¥1,300,000)
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| Keywords | Digital control / Adaptive control / Interative controller / CAD system for control / system design |
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| Research Abstract |
The aim of this research project is to develop software packages for design of digital adaptive control systems. We first investigate fundamental issues in design of digital adaptive control systems, which are summarized as follows.
1. Effects of computation delays on feedback properties of digital optimal regulators and type 1 servosystems with computation delays are analyzed.
2. A class of stochastic optimal control problems is analyzed to give certain theoretical limit on achievable performance in adaptive control problems.
3. Drawbacks of the existing dual control algorithms are pointed out and an improved algorithm is proposed.
4. A new design method for digital iterative learning controller is proposed.
5. A new digital servosystems for trajectory control of robot manipulators taking account of computation delays are proposed.
Based on the above theoretical results, the following CAD systems useful for practical design are developed.
1. The CAD system for design of digital optimal regulators and type 1 servosystem taking account of computation delays
2. The CAD system for design of digital adaptive identifiers
3. The CAD system for design of digital model reference adaptive control systems
4. The CAD system for design of digital iterative learning controller
5. The CAD system for design of digital servosystem for trajectory control of robot manipulators.
The CAD systems 2 and 3 are successfully utilized to develop an adaptive control system for the ventiricular assist device.
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