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Study on the design method of robust auto-tuning control systems for large-scale complex systems

Research Project

Project/Area Number09650475
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 InstitutionHiroshima University

Principal Investigator

SAEKI Masami  Hiroshima University, Faculty of Engineering, Professor, 工学部, 教授 (60144325)

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)
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 : ¥600,000 (Direct Cost : ¥600,000)
Fiscal Year 1997 : ¥2,400,000 (Direct Cost : ¥2,400,000)
Keywordsrobust 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
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.

Report

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

Research Products

(37results)

All Other

All Publications

  • [Publications] Masami Saeki: "Optimization of PID controller for H∞ control by linear programming"International Journal of Robust and Nonlinear Control. 10. 83-99 (2000)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 佐伯正美: "飽和時の応答を考慮したアンチワインドアップ制御器の設計"計測自動制御学会論文集. 35. 754-761 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 和田信敬: "ロバスト安定性を考慮したAnti-Windup補償器の設計"電気学会論文誌C. 119-C. 734-739 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 和田信敬: "ロバスト安定性を保証する静的Anti-Windup補償器の設計"システム制御情報学会論文誌. 12. 664-670 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 井村順一: "解の凸結合によるハミルトン・ヤコビ不等式の近似解の改良法"計測自動制御学会論文集. 34. 1170-1177 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Junichi lmura: "Well-posedness of a class of piecewise linear Systems with no jumps"Hybrid Systems Lecture Notes in Computer Science. 1569. 123-136 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masani Saeki: "A new adaptive identification method of critical loop gain for multi-input multi-output plants"proc.of the 37th IEEE Confereace on Decision and Control. 3984-3989 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masani Saeki: "Flight control design and experiment of a twin rotor helicopter model via 2 step exact linearization"Proc.of the 1999 IEEE International Corference on Control Applications. 146-151 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Junso Kimura: "Proposal of a parallel supporting damper with tendon and robust control system design"Proc.of the 1999 IEEE International Corference on Control Applications. 1412-1417 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Junichi Imura: "Well-posedness 0f a class of dynamically interconnected Systems"Proc.of the 38th Conference on Decision and Control. 3031-3036 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masami Saeki: "Optimization of PID controller for H-infinity control by linear programming"International Journal of Robust and Nonlinear Control. vol. 10 (to appear). 83-99 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masami Saeki: "Design of anti-windup controller considering the response during saturation"Trans. of the Society of Instrument and Control Engineers. Vol. 35. 754-761 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Nobutaka Wada: "Design of anti-windup compensator considering robust stability"Trans. of the Institute of Electrical Engineers of Japan. Vol. 119-c. 734-739 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Nobutaka Wada: "Design of a static anti-windup compensator which guarantees robust stability"Trans. of Institute of Systems Control and Information Engineering. vol. 12. 664-670 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Junichi Imura: "An improved approximation method of the solution of Hamiltonian-Jacobi inequalities"Trans. of the Society of Instrument and Control Engineers. Vol. 34. 1170-1177 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Junichi Imura: "Well-posedness of a class of piecewise linear systems with no jumps"Hybrid systems, Lecture Notes in Computer Science. 1569. 123-136 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masami Saeki: "A new adaptive identification method of critical loop gain for multi-input multi-output plants"Proc. on the 37ィイD1thィエD1 IEEE Conference on Decision and Control. 3984-3989 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masami Saeki: "Flight control design and experiment of a twin rotor helicopter model via 2 step exact linearization"Proc. of the 1999 IEEE International Conference on Control Applications. 146-151 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Junso Kimura: "Proposal of a parallel supporting damper with tendon and robust control system design"Proc. of the 1999 IEEE International Conference on Control Applications. 1412-1417 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Junichi Imura: "Well-posedness of a class of dynamically interconnected systems"Proc. on the 38ィイD1thィエD1 IEEE Conference on Decision and Control. 3031-3036 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Masami Saeki: "Optimization of PID controller for H_∞ control by linear programming"International Journal of Robust and Nonlinear Control. (掲載予定). (2000)

    • Related Report
      1999 Annual Research Report
  • [Publications] 佐伯正美: "飽和時の応答を考慮したアンチワインドアップ制御器の設計"計測自動制御学会論文集. 35・6. 754-761 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 和田信敬: "ロバスト安定性を考慮したAnti-Windup補償器の設計"電気学会論文誌C. 119-C・6. 734-739 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 和田信敬: "ロバスト安定性を保証する静的Anti-Windup補償器の設計"システム制御情報学会論文誌. 12・11. 664-670 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] Jynso Kimura: "Proposal of a parallel supporting damper with tendon and robust control system design"Proc. of the 1999 IEEE International Conference on Control applications. 1412-1417 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] Masami Saeki: "Flight control design and experiment of a twin rotor helicopter model via 2 step exact linearization"Proc.of the 1999 IEEE International Conference on Control Applications. 146-151 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] Junichi Imura: "Well-posedness of a class of piecewise linear systems with no jumps"Hybrids systems:Computation and Control. 1569. 123-136 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] Junichi Imura: "Well-posedness of a class of dynamically interconnected systems"Proc.of the 38th Conference on Decision and Control. 3031-3036 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 佐伯正美: "H_∞制御問題に対するPID制御器のパラメータ空間設計法" システム制御情報学会論文誌. 11・1. 35-40 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Masami Saeki: "A new adaptive-idinetification method of critical lege gain for muitl-input muiti-output plants" Proc.on the 37 th IEEE Conf,on Dec,and Cevt. 3984-3989 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 井村順一: "解の凸結合によるハミルトン・ヤコビ不等式の近似解の改良法" 計測自動制御学会論文集. 34・8. 1070-1077 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Jynso Kimura: "A Parallil Suppnrting dampn mith tendon and cmtral systems for blenille lec" Prol.of the 4 th Japan-France Canyuss. 77-80 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 佐伯 正美: "H^∞制御問題に対するPID制御器のパラメータ空間設計法" システム制御情報学会論文誌. 11.1. 35-40 (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] 佐伯 正美: "限界ゲインの高精度適応同定法の提案" 計測自動制御学会.第18回適応制御シンポジウム. 21-24 (1998)

    • Related Report
      1997 Annual Research Report
  • [Publications] 佐伯 正美: "モデル妥当性に基づくモデル集会の同定" 計測自動制御学会.第20回Dy namical System Theorg シンポジウム. 317-320 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] J.Imura: "Parametriq ation of All Stabiliqing Controllers of Nonlinear Systems" Systems & Control Letters. 29・4. 207-214 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] M.Saeki: "Design method of robust PID controller and CAD system" 11th IFAC Symposium on System Idontification. 3. 1587-1593 (1997)

    • Related Report
      1997 Annual Research Report

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

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