振動試験装置を具体例としたフィードバック制御系の融合にみられる干渉の伝達関数モデル

Abstract

The testing machine requires additional controller with existing one in the sake of improvement of its functions such as robustness and tracking performance. This approach is known as controller fusion method. In this approach, two controllers, one is additional and another is existing, can collaborate with each other to improve performance with cross-effect. However they also conflict each other since they designed each by each. This is called as confliction as a negative effect in cross-effect. This study developed the transfer function model for cross-effect in the fusion of acceleration feedback controller and displacement feedback controller since still not clearly described of details in the fusion of two controllers. The model equation was validated by experiment with small scale shaking table. The controllers for it designed using suggested transfer function model. The motion of this test rig marked well tracing to simulated output signal calculated by suggested model in both acceleration and displacement domain. The experiment results show the model well represent the cross-effect of controllers. According to these results, the detailed knowledge of controller fusion, the mechanism of why controllers conflicts each other, is shown clearly. Also, this results can apply not only for shaking tables but also for variety of mechatoronic systems with two controllers for one controlled plant.