ホッパの重量制御

適応制御方式の適用

抄録

In this report, we discuss the weight control of the hopper by using a microcomputer. As for the control algorithm, the “Model Reference Adaptive Control” method is used.
The model reference adaptive control system (MRACS) is constructed with Ohkawa's algorithm based on the Lyapunov's direct method. And the MRACS is extended to permit application to non-minimum phase systems by compensating zero-points of the system because the hopper system is non-minimum phase system.
The validity of the extended adaptive algorithm is confirmed by simulations, further the algorithm is applyed to the real hopper system.
As for the results, it is shown that the proposed algorithm is very useful for the process with a deterministic disturbance input and with time variant parameters through the simulations and experiments.