デュアルオブザーバを用いた積分型サーボ系設計法と柔軟構造物への応用

抄録

This paper presents a new design method of servo control system based on a dual observer for the positioning of flexible structures. In order to reduce the sensor costs and to suppress spillover phenomena which are caused by ignored elastic modes of the plant, we introduce an input pre-filter which possesses low pass characteristics. First, we consider a generalized plant, which is formulated as an augmented system which is expressed by the plant, the pre-filter and an integrator based on Internal Model Principle. Second, we expand the input spaces of the generalized plant by using the dual observer for matching to desired models. Third, we show our proposed design method which satisfies the design specifications. Finally, some results of numerical simulations are given in order to verify the usefulness of our method.