ILQサーボ系に対するFRITを用いた目標値応答特性のトリミング

抄録

Mass-produced control systems allow tolerances for each component. Therefore, the model parameters of the controlled object also have a certain tolerance, and the controller design is generally designed based on the nominal value considering the perturbation. As a result, the target value response characteristics also have a certain range of variation. The structure uses an ILQ controller and a precompensator, and the experimental data obtained in the inspection process etc. A design method that adjusts the controller using the FRIT method and restores it to the nominal target value response characteristic (this paper refers to this as trimming) is proposed. We propose this method and demonstrate its effectiveness using a numerical example.