構造が固定された制御器の数値最適化による周波数整形

送り系のための制振フィルタの設計

抄録

This paper presents a tuning methodology of a fixed-structure feedback controller based on the frequency-domain loop shaping technique. Although the present methodology requires to solve a nonconvex optimization problem, it offers quite a practical way to tune a feedback controller such that the closed-loop system exhibits the desired control performance. As an application example, the tuning of a linear feedback controller is demonstrated for a feed drive system driven by a linear motor. In order to suppress the structural vibration of lower frequency, one must tune the controller by taking into explicit consideration its phase dynamics, as well as its gain dynamics. The loop-shaping design based on the proposed formulation is quite effective in practice in such a case.