| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2023-03-30 |
| タイトル |
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|
タイトル |
弾性直列型2重倒立振子のモデリングとH∞制御 |
| タイトル |
|
|
タイトル |
Modeling and H∞ Control for an Inverted-Double Pendulum System Consisting of Elastic Links Connected in Series |
|
言語 |
en |
| 言語 |
|
|
言語 |
jpn |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Inverted-Double Pendulum |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
Double Elastic Links |
| キーワード |
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|
主題Scheme |
Other |
|
主題 |
H∞ Controller |
| キーワード |
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主題Scheme |
Other |
|
主題 |
Loop Shaping Design |
| キーワード |
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主題Scheme |
Other |
|
主題 |
Frequency Shaping |
| キーワード |
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|
主題Scheme |
Other |
|
主題 |
Distributed-Parameter Modeling |
| キーワード |
|
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主題Scheme |
Other |
|
主題 |
Spillover |
| 資源タイプ |
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|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
departmental bulletin paper |
| 著者 |
神本, 和昭
川辺, 尚志
Kamimoto, Kazuaki
Kawabe, Hishashi
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| 抄録 |
|
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内容記述タイプ |
Abstract |
|
内容記述 |
The stabilizing control techniques for an inverted-double pendulum system consisting of elastic links connected in series are investigated by employing a distributed-parameter modeling method taking the 2nd and 3rd vibration modes of the elastic beam as the residual modes, and designing the H∞ controller with both frequency characteristics and integral ones based on the loop-shaped H∞ control scheme. It is found that the present design method is very convenient for such a flexible structure system having the jω poles as a double pendulum system discussed here, and that the frequency-shaped H∞ controller has not only the simultaneous suppression effect against the chattering and the spillover components, but also the precise cart positioning control effect without static error. Furthermore, It is found that although the coupling effect of the different natural frequencies between two flexible beams makes the stabilization problem more difficult, even such a simple feedback controller using only the output signal based on the strain vibration on the upper elastic beam is possible in stabilizing the most unstable system. |
| 書誌情報 |
広島工業大学紀要. 研究編
巻 38,
p. 81-88,
発行日 2004
|
| 出版者 |
|
|
出版者 |
広島工業大学 |
| ISSN |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
13469975 |
| 書誌レコードID |
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|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AA11599110 |
| フォーマット |
|
|
内容記述タイプ |
Other |
|
内容記述 |
application/pdf |
| 著者版フラグ |
|
|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| 日本十進分類法 |
|
|
主題Scheme |
NDC |
|
主題 |
548.3 |
kenkyuhen38081.pdf (436.1 kB)
