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Direct tuning of PID controller and reference model with input constraint
Shuichi Yahagi,Itsuro Kajiwara 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The direct tuning of controller parameters based on data-driven control has attracted considerable attention because of its simple controller design. In this study, we proposed a direct tuning method based on a fictitious reference signal to obtain controller and reference model parameters. In the method, predicted input/output data with respect to controller parameters are used. The predicted data with pole information are obtained based on instability detecting-fictitious reference iterative tuning, which can ensure bounded-input, bounded-output stability. We derived a new objective function with constraints using the predicted data to automatically obtain controller and reference model parameters to perform a fast response under model matching and input constraints. The function consists of an evaluation part in which the fastest responsive reference model is requested and constraint parts that include model-matching errors and input amounts. A simulation was performed to verify the effectiveness of the proposed method. The results showed that the proposed method provided controller and reference model parameters for the model matching and input constraints from one-shot data without trial and error.
Active Vibration Control of a Membrane Structure Using PVDF Actuator
Yuelin Zhang,Toshiki Hiruta,Itsuro Kajiwara,Naoki Hosoya 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.춘계 No.-
To realize a vibration suppression of flexible structures like a membrane, the smart structures technology that uses material such as piezoelectric element is focused. In this study, a vibration control system using a PVDF film as an actuator for the membrane structure is proposed. To confirm the effectiveness of the proposed method, the control properties with H<SUB>∞</SUB> control for reducing single mode, 1st or 2nd mode vibration, are evaluated by using the non-contact laser excitation vibration test system. In the system, a high power pulse laser is used for producing an ideal impulse excitation and a laser Doppler vibrometer is used for measuring the response on the membrane. The obtained results show that the vibration suppression is achieved at each mode in all experiments. Therefore, the present method using the flexible piezoelectric element is effective to suppress the vibration of flexible structures.
Vibration control of membrane structures using multiple dielectric elastomer actuators
Toshiki Hiruta,Hiroki Ishihara,Naoki Hosoya,Shingo Maeda,Itsuro Kajiwara 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
A vibration suppression technique for lightweight and flexible membrane structures is proposed using smart structure technology with a dielectric elastomer actuator (DEA). DEA is a lightweight flexible polynomial material with a large deformation and high response time. Its advantages include easy application to the membrane structures and vibration suppression over a wide frequency band. A non-contact excitation system using a high-power Nd:YAG pulsed laser is used to precisely measure the vibration responses of membrane structures. The system generates a highly reproducible ideal impulse excitation. Active vibration control for membrane structures with DEAs is examined in this study. To improve the vibration control effect, multiple DEAs are applied. These actuators generate vibration control forces simultaneously during the control. Laminated DEAs are fabricated and attached to the membrane surface separately. An experimental setup including a digital control system is constructed with the laser excitation system. To demonstrate the effectiveness of the proposed method, a controller is designed by H∞ control theory with the identified membrane model and vibration control experiments are conducted.