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This paper studies a data driven pole placement method deriving a state feedback gain directly from a pair of state and input measurements of a given controllable discrete-time system. In a conventional approach, a state space model should be identified in advance to apply a standard pole placement algorithm. In the proposed method, a state feedback gain and a state space model can be simultaneously obtained under an assumption.

This paper considers the active vibration control when the system is subjected to unknown deterministic disturbances which are generated by a linear dynamical system. An adaptive pole placement controller incorporating the internal model principle is designed. This controller can achieved both suppression of vibration and desired pole placement of the closed-loop system. Experimental results show that the amplitude of the vibration is reduced to approximately 10% of that on the uncontrolled state and that this scheme is robust for change of the disturbance frequency.

本論文では，産業用ロボットや光ディスクドライブなどのメカトロニクス制御系を，PID制御器や位相進み補償器などの固定構成のディジタル制御器で実現するときに，演算時間遅れなどのむだ時間要素を考慮して制御パラメータを決定する「限定極配置法」を提案する。ディジタル制御では演算時間遅れやゼロ次ホルダなどのむだ時間要素が必ず存在する。このむだ時間要素のために制御系の次数が高くなり，制御パラメータ数の限定された固定構成制御器で制御系設計を行おうとすると，制御パラメータの数が足りずに試行錯誤の調整が必要になる。このような，制御系の次数に比べ制御パラメータ数が少ない場合について，パラメータ数に相当する極のみ配置する「限定極配置法」を考案した。本手法により制御パラメータ設計の効率化が図れるとともに，むだ時間要素の影響を明らかにできる。本論文ではこの「限定極配置法」について説明すると共に，産業用ロボットおよび光ディスクドライブなどへの適用法を示す。具体的には，産業用ロボットの例として1慣性系をPID制御器で位置制御する制御系について，また光ディスクドライブの例としてボイスコイルを位相進み制御で位置制御する制御系について「限定極配置法」を適用し，いずれの場合も振動性を抑えた制御パラメータが算出されることを確認するとともに，制御性能の限界について解析した。また，光ディスクドライブへの適用時に極を重ねて配置することで，複素零点により低域ゲインを高くできる「高ゲインサーボ」制御器を考案した。この「高ゲインサーボ」の実用化検討を行い，サーボ引き込み失敗率を改善するために初期値補償法を適用し，その飽和対策も行った。さらにシステムLSIに実装するためにマルチレート制御への対応を行い，また一層の高ゲイン化を図るため「2段ブースト高ゲインサーボ」の検討を行った。さらに次世代光ディスクシステムとして検討されている「超多層光ディスクシステム」での制御方式についても検討を行い，限定極配置法の適用で高ゲイン化が図れることを確認した。最後に，限定極配置法により算出される「決定極」の挙動について解析し，産業用ロボットで用いられるPID制御系と光ディスクで用いられる位相進み制御系の違いについて考察した。以上を通して，「限定極配置法」によりむだ時間を考慮した制御パラメータが得られ，試行錯誤の調整が不要となり，見通し良く制御パラメータ設計が行えることを確認した。また，決定極について解析することでむだ時間要素の影響を定量的に把握でき，制御性能の限界について新たな考察を加えることができることを確認した。

application/pdf, 電気電子工学

This paper is concerned with design of an augmented automatic choosing control (AACC) for nonlinear systems. The AACC is synthesized by smoothly uniting a set of sectionwise linear controls, in which pole placement approach is used. An observer theory is applied to it in a case that the state vector includes some unmeasurable variables directly. Control and observer's gains are obtained by the pole placement method.

application/pdf, 電気電子工学

本論文では、回生電力貯蔵装置を用いた誘導電動機の省エネルギー駆動方法を提案する。電動機の加速・減速時の瞬時トルクは、一型サーボ系を用いたベクトル制御法によって制御される。電動機が電磁ブレーキによって減速させられるとき、回転エネルギーを電力として取り出すことができる。回生された電力は、キャパシタと双方向DC-DCコンバータによって構成される回生電力貯蔵装置に貯蔵され、電動機の加速時に放出することで省エネルギー駆動を実現する。回生電力貯蔵装置の制御法として、フィードバックとフィードフォワード制御を併用した新しい制御系を提案する。ベクトル制御と回生電力貯蔵装置の制御における全ての制御ゲインは、極配置法を用いて決定する。提案手法の有効性を、シミュレーションと実験の両方で検証する。, In this paper, we propose an energy efficient drive method of an induction motor. A vector control method is employed in order to control a torque instantaneously in the case of acceleration and regeneration. When the motor speed is reduced by the electromagnetic braking, the rotating energy can be converted into an electric power. This is called the regenerative power. The regenerative power is stored by a regenerative power storage system composed of an electrolytic capacitor and a bi-directional DC-DC converter. We have designed a novel control system using both a feed-back and a feed-forward paths for a state-averaged model of the bi-directional DC-DC converter in order to store and provide the regenerative power. All controller gains of the motor and the regenerative power storage system are determined by the pole placement method. The effectiveness of the proposed control method is illustrated by both simulations and experiments.

Ordinary, method by the polarity of constant term in a characteristics equation is used to detect of vehicle stability. This paper describes that the definition of static stability and dynamic stability and generating mechanism of these stability. This analysis using state plane shows that the state vector made by planer half model expressing the stable or unstable conditions. This analysis result is able to define that the static stable or unstable, dynamic stable or unstable corresponding to pole placement of vehicle characteristics equation. Also it shows that dynamic instability for OS vehicle is not defined. This result will bring out that design the stability margin to distinguish static stability and dynamic stability at important process to design the control law for the active controlled SBW (Steer-by-Wire) vehicle.

For the control of permanent magnet synchronous motors, speed control, current control, sensorless control exist, and control gain design is required. In general, the control gain needs to be designed in consideration of stability and responsibility, and various researches have been conducted on this. In this paper, the influence of the control band of the three types of control on the stability is analyzed by combining the analysis of the pole placement of the closed-loop transfer function and stability judgment considering the axial error which is the difference between the actual position and the estimated position, the relationship between each control band that can secure the results is discussed.

This paper deals with the active vibration control problem when the system is subjected to unknown deterministic disturbances which are generated by a linear dynamical system. A model reference adaptive technique is applied for control design. This algorithm can be implemented if only the upper bound of the degree of the disturbance dynamics is known. In addition, the solvability of the Diophantine equation is guaranteed. These facts indicate that this scheme is superior to the adaptive pole placement controller incorporating the internal model principle. Experimental results show the effectiveness of the control method presented in this paper.収録刊行物

application/pdf, As a feedback controlled system design technique, the model-following method was proposed in [1]. In the system designed by the application of this method, the differences between the outputs of a model and a controlled object are fed back via a compensator to the controlled object. In this case the output following accuracy is decided by the pole placement in the closed loop composed of the controlled object and the compensator. In [1], the compensator was designed from relocating all the poles arbitrarily. It is, however, apparent that when the real parts of all the poles are in an appointed domain, the model-following system is satisfied with the output following accuracy. In this paper, the design problem of the compensator with lower order is discussed from this point of view.

application/pdf, The problem of pole placement in the systems consisting of a plant with uncertain orders and a compensator in cascade is considered. And the hybrid compensator with a phase lead characteristic is proposed to solve this problem. By using this compensator, the real parts of the poles in the system can be relocated in the appointed region

The active vibration control of a flexible robotic arm has been investigated using a positioning control system which is constructed with a DC servo-motor directly driving the arm in a horizontal plane, a micro-computer as a controller, and sensing devices. It is found that the elastic vibration originating from the arm flexibility in positioning control deviates inversely to the positioned direction, and also that the greater an input to the motor, the more noticeable becomes such an asymmetry of vibration owing to the inertia effect. A state feedback control system designed based on the optimal regulator method and the pole placement one, including a dynamic compensator with a minimal order observer, is effective on both the simultaneous control of the positioning of the motor axis and the elastic vibration of the arm. It can be said that while the modeling of the arm is restricted only to the fundamental vibration mode, an extension to multi-degree of freedom system is also expected, similar to the case treated here.