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- 저자 : Noriyuki Akasaka (검색결과 3 건)
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Noriyuki Akasaka 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
A model of the servomechanism used for high-powered actuators in mechanical systems consists of a position feedback loop around the cascade connection of a memoryless saturation function with an integrator with a large time constant. The saturation function in the servomechanism has a linear high gain characteristics for a small input and so the equivalent time constant of the actuator servomechanism becomes small. As the input to the saturation function becomes larger than the small linear range for a drastic control demand, the output of the saturation function becomes constant irrespective of the input magnitude and the actuator response has a rate saturation determined by the large time constant of the integrator and so the time lag of the actuator response behind the demand results in the actual plant input much different from the demand and the plant may exhibit an undesirable behavior of the system. Therefore in this paper we consider a control method for a system with rate saturations in the actuator servomechanisms to keep stable by switching the controller gain according to the input magnitudes to the saturation functions so that the inputs to the saturation functions are controlled within the permissible maximum absolute values which are decided according to each level of LQ controller gain groups determined beforehand to ensure the local absolute stability of the total system whose conditions are expressed as a linear matrix inequalities optimization problem by introducing a Lure-Postnikovtype Lyapunov function. In a piecewise linear control the switching function selects a controller gain group by on-line monitoring the inputs to the saturation functions in the actuator servomechanisms. The effectiveness of the design method is illustrated with a practical example of dynamic positioning(DP) system.
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Noriyuki Akasaka 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
The control engineers make adequate evaluations of the control unit with respect to the control performance, cost, reliability and so on by using the various verification measures for example, (1)computer simulation, (2)simulator apparatus and (3)actual equipment. In the initial evaluation it is efficient to use the measures of computer simulation and in the final evaluation it is necessary to use the measures of actual equipments. In the intermediate stage of evaluation the measures of simulator apparatus is an important factor which influences the evaluations of control performance and cost. In this paper the verification measures of simulator apparatus is considered which consists of the simulator apparatus for the controlled unit, and the actual equipments for the control unit and I/F unit and the design method of the simulator apparatus by use of control similarity principle is proposed in order to do the efficient design of simulator apparatus and the accurate evaluation of control performance of the total system. The method to derive the dimensionless parameters to establish the control similarity principle and the design method of simulator apparatus by use of the dimensionless parameters are revealed. As a practical example the design of a load simulator apparatus of the electric-motor driven injection molding machine is described.
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