付加外力を伴う電気空気圧サーボ系のδ-演算子を用いたマルチレートMRACS

抄録

In this paper, we present the construction of a MRACS with the delta-operator for a pneumatic servo system in which the discrete-time model of the plant is non-minimum phase. Since the magnitude of neglected terms becomes negligibly small under the condition that the sampling-time is extremely short, the sampling-time must be chosen as short as possible. On the other hand, such a condition causes an insufficiency of the calculation-time for the identification of the unknown plant.
To overcome this problem, a multi-rate identification method in which identification-time is selected as multiple of the sampling-time is adopted here. To confirm the effectiveness of this approach, experiments were carried out using the existent pneumatic servo system.