| Project/Area Number | 09650475 |
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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 |
計測・制御工学
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| Research Institution | Hiroshima University |
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Principal Investigator |
SAEKI Masami Hiroshima University, Faculty of Engineering, Professor, 工学部, 教授 (60144325)
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| Co-Investigator(Kenkyū-buntansha) |
KIMURA Junso Hiroshima University, Faculty of Engineering, Research Associate, 工学部, 助手 (20243595)
IMURA Jun-ichi Hiroshima University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (50252474)
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| Project Period (FY) |
1997 – 1999
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| Project Status |
Completed(Fiscal Year 1999)
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| Budget Amount *help |
¥3,500,000 (Direct Cost : ¥3,500,000)
Fiscal Year 1999 : ¥500,000 (Direct Cost : ¥500,000)
Fiscal Year 1998 : ¥600,000 (Direct Cost : ¥600,000)
Fiscal Year 1997 : ¥2,400,000 (Direct Cost : ¥2,400,000)
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| Keywords | robust control / nonlinear control / PID control / anti-windup / self - excited oscillation / identification / 固定 / アンチウィンドアップ / オートチューニング / ロバスト同定 / 非線形振動 |
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| Research Abstract |
1. An efficient numerical algorithm for obtaining the H-infinity optimal PID controller is proposed. The original design problem is approximated as linear constraints for each frequency, and linear programming is applied. This method can be applied to the design of a decentralized PID controller, which is a future work.
2. Nonlinearity is one of the major cause of complexity of the control system, and in order to decrease the difficulty caused by the nonlinearity, a few design methods and their applications are examined. First, the design method of anti-windup controller against input saturations is proposed. It guarantees the robust stability and can be applied to decentralized controller without any difficulty. Second, a design method examined is a two step liberalization of smooth nonlinearity and the application of linear controller design to the linearized model. This method is applied to a twin rotor helicopter model and its usefulness is shown experimentally. Lastly, a parallel supporting damper with tendon is proposed as a new actuator structure for the control of a flexible beam, and robust control design method is applied to compensate for the unmodelled higher modes.
3. As a large scale complex system, a hybrid system which is composed of linear time-invariant subsystems dynamically connected is examined from the viewpoints of continuity and well-posedness of solutions. Basic analytical properties and the conditions are clarified. It is expected that this result is extended to the control design of hybrid systems.
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