圧電アクチュエータを用いたセミアクティブ振動制御のための低計算負荷モデル予測制御器

抄録

This paper presents a concise and straightforward model predictive controller for semi-active vibration control systems using piezoelectric actuators with switched inductance shunts in order to finally reduce the computational loads of the controller. Conventional studies of model predictive controllers for the semi-active vibration control systems used a general framework for designing model predictive controllers for hybrid systems and this approach leads heavy computational loads and difficulty of real time implementation. Instead of using the general framework, we focused on the characteristics of the semi-active vibration control systems and designed the concise and straightforward controller specially for the semi-active vibration control systems. The important characteristics of the semi-active vibration control systems are nonexistence of continuous input and meaningful constraint conditions and they convert the control problem into a simple combinatorial optimization problem. In the simple combinatorial optimization problem, the value of the objective function for each combination of the input can be obtained as a simple quadratic form of the current state vector and this nature helps to reduce the computational loads. Numerical simulations and experiments of semi-active vibration control of a cantilever beam using this controller are conducted and the results showed that the controller is effective especially for multi-mode excitation conditions and implementable with moderate horizon length.