著者

弓場井 一裕 寺田 真也 平井 淳之

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society (ISSN:03854221)

巻号頁・発行日

vol.131, no.4, pp.773-780, 2011-04-01

参考文献数

12

被引用文献数

1

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In model-free controller syntheses, we have no idea whether the designed controller stabilizes the resulting closed-loop system before its implementation. From the view point of safety of the experimental equipment, we should develop the stability test for model-free controller synthesis using the acquired input/output data. Karimi et al. introduced the sufficient stability condition for the closed-loop system and proposed the stability test for NCbT (Noniterative Correlation-based Tuning) for SISO systems. However, since the positions of the plant and the controller have to be swapped in NCbT, its applicability is restricted to SISO systems.<br>This paper proposes to extend the stability test for NCbT to MIMO systems. The basic idea is to use the special reference <i><b>r</b></i>^[<i>i</i>](<i>t</i>) and to acquire input/output data as many times as the number of plant inputs. The small-gain theorem introduces the sufficient stability condition for the closed-loop system in terms of the <i>H</i>_&infin; norm of the specific transfer function matrix, which is estimated from the acquired input/output data by the spectral analysis method.<br> The effectiveness of the proposed stability test is confirmed by the numerical experiment for LV100 gas turbine engine model and the experiment for tension-and-speed control apparatus.

著者

西井 勇輝 矢代 大祐 弓場井 一裕 駒田 諭

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.142, no.2, pp.76-85, 2022-02-01 (Released:2022-02-01)

参考文献数

15

被引用文献数

1

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Contact-force control of propeller-driven systems achieves aerial tasks that require contact motions with objects. Conventional contact-force controllers for propeller-driven systems utilize a contact-force feedback controller. Although the feedback gain should be high to achieve high target tracking performance, a high gain causes a large overshoot. This paper therefore proposes a novel contact-force controller which utilizes an airframe's velocity and an airframe's acceleration. An estimated acceleration and an estimated velocity of the airframe are fed back to the contact-force controller. A rotor angular velocity is utilized to estimate the acceleration. The validity of the proposed controller is verified through frequency analysis, simulation, and experiment.