Application of Two-Degree-of-Freedom Control to Multi-Axis Electrodynamic Shaking System Using-Synthesis and Adaptive Filter

摘要

In this paper, we propose a method of applying a two-degree-of-freedom (2DOF) control since such control of a multi-axis electrodynamic shaking system requires no iteration control and has real-time performance. We first introduce an ideal mathematical model and an uncertainty weighting function for the system, and design a feedback controller using μ-synthesis. Moreover, we adopt a 2DOF controller to improve the transient response. Then, an adaptive filter is added when control performance still cannot be satisfied. An adaptive filter is inserted in series in a feedforward block and is structured to compensate the difference between a nominal model and an actual plant. Also, uncertainty of the system is considered, and an adaptive filter based on the H filter is employed. Lastly, we inspect the performance of the controller experimentally, using a resonant specimen. The proposed controller is confirmed to have achieved a superior performance in such a situation.