2210 1リンクフレキシブルアームを対象とした構造と制御の同時最適設計(OS11-2/構造,制御,熱問題の最適化)(OS11/設計と最適化)

抄録

This paper proposes an optimum design problem of structural and control systems, taking a 1-link flexible arm as an example. This object is modeled by finite element method, and an output feedback H_∞ controller is designed using H_∞ control theory. The objective functions of structual system and control one are structual weight and H_∞ norm of transfer function from disturbance input to controlled output, respectively. Design variables are cross sectional areas of flexible arm. This design problem becomes a multi-purpose objective one. By transforming it into a single-purpose problem, optimum solutions are obtained. In this approach, we adopt the simplex method for solving this nonlinear problem. As the result, the optimum form of flexible arm is such that tapers off. Through the numerical examination we show the validity of the optimum design.