2自由度補償器による2慣性系の振動抑制制御系の実現

抄録

In the vibration suppression control of the 2-mass system, the higher performance we demand, the higher the degree of the controller becomes. The controller is generally designed by a CAD system and is implemented with a microprocessor. But the microprocessor does not have enough precision to realize the result of the design by the CAD system. It is very important to establish implementation methods of the controller. Therefore, we show new implementation method of the controller based on the 2-DOF controller with a finite bit microprocessor. In this paper, first of all, we reviw the design algorithm based on the internal structure of the generalized 2-DOF controller. With this algorithm we can design the controller taking a robust stability condition into account. Secondly, we propose new coprime factorization of the 2-DOF controller in simple style. This factorization is based on the conventional PI controller, and thus can easily be applied to the conventional system. Thirdly, we show an implementation method of the controller taking account of the precision of the conventional microprocessor. This technique has been developed and used in the signal prossessing field. Finally, we show some experimental results with the microprocessor and verify the effectiveness of the proposed method.