二自由度制御系を備えた小型加熱器へのERIT適用結果

抄録

ERIT is one of the data-driven controls which tunes feed-forward controller parameters so that an estimated response is equal to a desired response. Although ERIT is practical in that the response is obtained before implementing the tuned parameters, few evaluation results that ERIT is applied to a real system have been reported. In this paper performance of ERIT was evaluated by applying ERIT to a proto-typed small heater. The controller was a two-degree-of-freedom control system consisting of feedforward control and feedback control, and it controlled internal temperature. Parameters of the feedforward control were tuned by ERIT. Errors between the internal temperature and the desired internal temperature calculated by a reference model were evaluated in reference models with different responsiveness. Both the minimum values of the errors and the maximum value of the errors after tuning were improved than those before tuning for all the reference models. The slower the response of the reference model, the larger the errors were. It is considered that a non-linearity according to the temperature deteriorates the followability to the reference model.