本質安全なサーボ制御を実現するための双線形最適サーボ制御手法

摘要

Servo control is one of foundamental control techniques for control problems of many mechanical structures. Various kinds of control methods such as PID, LQ and H-infinity controls have been applied to active servo control designs. However, it is very important to guarantee against safety in the control problems of man-machine systems. Especially, driving recklessly due to software or hardware errors in active control systems must be avoided in some devices, e.g., nursing care or medical devices. Therefore, an intrinsically safe control system is required for the devices. This note discusses the use of an intrinsically safe servo control system consisting of passive elements instead of active actuators. For such a control system, semi-active control to vary passive parameters such as viscous damping is important. Therefore, a novel servo control method based on the bilinear optimal control theory is proposed for the system in this note. The effectiveness of the method is verified by simulations.%機械構造物に関する各種制御問題の中で，対象を搬送し，位置決めする問題においてはサーボ制御が重要な役割を果たす．通常，サーボ制御では速度に関する台形状などの目標値（目標軌道）が与えられ，それに対象の制御量が追従するようにサーボ補償器が設計される．特に，目標値と制御量の定常偏差が生じないように，対象の伝達関数や目標値の型に応じた適切な積分特性を補償器に持たせることが多い．、補償器はPID制御や最適制御，〃00制御など各種のアクティブ制御手法で設計される．多くの機械構造物ではそれにより十分な制御が実現できる．