完全2自由度PID制御系のメカニカル機器への適用

摘要

The perfect 2 degrees-of-freedom control system was previously proposed in the field of plant control. Its feature is that an accurate mathematical model is not required on application. In other words, model-free is the strong point of this control. However, though recommended values against tuning parameters are presented, its reasons are not clarified. In addition, tuning method is not identified. In this paper firstly, though the application of the perfect 2-DOF to two kind of mechanical equipments, a tuning method is experimentally cleared and derived performance is presented. Next, it is shown that the derived tuning procedure agrees with the Kitamori's method. Finally, based on the zero assignment which is created by tuning the feedforward parameters, the shaping of positioning waveform becomes obvious. Especially, under the special set of these parameters, it becomes clear that the influence due to the vibratory pole can be loose.%「PID制御がすべてに最適になるように変形?加工して個別rn最適化を可能にする」ことを狙いとして，完全2自由度PID制rn御が文献1）に提案されている．ここでは，陽に明言していないrnがプラントを対象にした制御則であり，適用に際して正確なプrnラントモデルを必要としない特徴がある．