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適応制御のメカトロニクス制御への応用 : ハイゲインフィードバック適応制御の提案
https://metro-cit.repo.nii.ac.jp/records/62
https://metro-cit.repo.nii.ac.jp/records/6285058164-391b-418b-bdbb-355794699f36
名前 / ファイル | ライセンス | アクション |
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KJ00006589339 (319.0 kB)
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Item type | 紀要論文(ELS) / Departmental Bulletin Paper(1) | |||||
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公開日 | 2009-03-01 | |||||
タイトル | ||||||
タイトル | 適応制御のメカトロニクス制御への応用 : ハイゲインフィードバック適応制御の提案 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | The application of the adaptive control to the mechatronic control : The proposal of the high-gain feedback adaptive control | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Adaptive control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Mechatronics | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Digital control | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | Robust control | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
ページ属性 | ||||||
内容記述タイプ | Other | |||||
内容記述 | P(論文) | |||||
著者名(日) |
青木, 立
× 青木, 立 |
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著者所属(日) | ||||||
東京都立産業技術高等専門学校ものづくり工学科 | ||||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | It is necessary that the mechatronic control system achieves good performance toward the large mechanical characteristicchange or the mechanical impact on the controlled system. However, the conventional controller with fixedfeedback gain cannot follow the reference command, when the mechanical characteristic change is large. In such case, weusually consider introducing the adaptive control methodology. Though the adaptive control system can adapt to the largemechanical characteristic change, the adaptation speed is very slow. Therefore, the conventional adaptive control methodologycannot compensate the rapid mechanical characteristic change or the mechanical impact. In this paper, for makingthe adaptive control useful in the mechatronic control, the robust adaptive controller is proposed. The adaptive controlcompensates the large but gradual mechanical characteristic change, and the high-gain feedback control compensates themechanical impact. As an illustration, the first-order model reference adaptive control system (MRACS) is considered. Inthe case of the first-order system, there are three ways on the adaptive control gain assignment. Thus, the optimal gainassignment was determined so that the control system became the most robust. Simulation results show the effectivenessof the proposed method. | |||||
雑誌書誌ID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AA12210629 | |||||
書誌情報 |
東京都立産業技術高等専門学校研究紀要 en : Research reports of Tokyo Metropolitan College of Industrial Technology 巻 3, p. 15-19, 発行日 2009-03 |