データ駆動制御アプローチによるILQサーボ系の制御器パラメータ更新

抄録

In mass-produced products, each component of the control system is allowed to have a tolerance. As a result, the model parameters of the controlled object also have a certain tolerance. Therefore, the controller is designed based on the nominal characteristics while taking into account the perturbation, and the target value response characteristics also have a certain range of variation. In light of this background, a method has been proposed in which the closed-loop system is configured with a robust ILQ controller, and the controller is readjusted according to the characteristics of each controlled object using a single test data. However, this method requires that the nominal closed-loop system design is also done according to this method, and it cannot be applied to existing general ILQ servo systems. In this paper, we propose a method for updating the controller parameters to restore the response characteristics to the nominal characteristics and achieve LQ optimization for a closed-loop system designed using the conventional ILQ servo system design method for a single-input/output controlled object. We then verify its effectiveness through numerical examples.