弾性構造系のディジタル最適制御 : 弾性回転アームの位置決め制御

抄録

By treating a positioning control problem of a cantilever-type arm rotating horizontally, the digital optimal control problem of elastic structure systems is theoretically and experimentally considered in this study. Especially, a method to examine the influence of a spillover due to a finite dimensional approximation of the elastic structure and a calculation delay in the digital control is presented. By developing control equipment practically and carrying out various control experiments, the usefulness of the presented design method is verified and important knowledge of this kind of control is obtained. Furthermore, the influence of the friction in the DC servo-motor is investigated, mainly by digital simulations.