Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Synthesis of H Controller based on Analytical Solution for Infinite Inertia Ratio in Disturbance Suppression Problem of Two-inertia System with High Inertia Ratio
Shintaro IwamotoYasuhide Kobayashi
Author information
JOURNALS OPEN ACCESS

2020 Volume 33 Issue 3 Pages 87-94

Details
Abstract

This paper proposes, for two-inertia system of low stiffness and high inertia ratio, a design method of a proportional controller that minimizes the closed-loop H norm from the disturbance torque applied to the driven-side inertia to the driven-side angular velocity. The controller is to generate the driving-side torque by using the driving- and driven-side angular velocities, and is composed of two proportional coefficients configured by a simple calculation law which explicitly depends on the physical parameters. The method is based on the fact that the optimal H controller is analytically derived for the case with infinite inertia ratio, and the controller for finite-inertia-ratio case is similarly given along with the derivation process by introducing an approximation due to high inertia ratio. Numerical examples show that the degradation in H norm from the optimal solution is less than 0.02 dB for high inertia ratio of 10 or more. Control experiments show the validity of the proposed method.

Information related to the author
© 2020 The Institute of Systems, Control and Information Engineers
Previous article Next article
feedback
Top