外乱オブザーバ補償に基づく直立型単車輪サーボ系の安定化

• 竹森 史暁

  鳥取大学工学部

• 奥山 佳史

  鳥取大学工学部

• 藪 厚生

  滋賀職業能力開発短期大学校

書誌事項

タイトル別名

• Stabilization of Vertical Mono-wheeled Servo System Based on Disturbance Observer Compensation.
• ガイラン オブザーバ ホショウ ニ モトズク チョクリツガタ タンシャリン サ

抄録

In this paper, we are concerned with the stabilizing control for a vertical mono wheeled servo system based on the disturbance observer compensation. After separating the mono-cycle dynamic structure into a body-frame dynamic system and a mono-wheeled system, the mono-wheeled system is regarded as a main control system and we consider that unstable behavior of the vertical mono-wheeled system because of one supported point body is caused by the virtual disturbance torque. For this purpose, this paper proposes a design method of 2-degrees of freedom control system including disturbance observer for such virtual disturbance torque in feedback loop and evaluates its effec-tiveness by experiment. The main aim of such 2-degrees of freedom control is to accomplish the regulator problem and the servo problem, especially the regulator problem is realized by 2-stage control whose structure has firstly pseudo-stabilization by disturbance observer compensation and secondly output feedback with H∞ controller for whole the system.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 16 (6), 798-806, 1998

  一般社団法人 日本ロボット学会

キーワード

• Disturbance Observer
• Stabilization
• Servo System
• Vertical Mono-Wheel

詳細情報

• CRID: 1390282679703808000
• NII論文ID: 10002864448
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.16.798
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4545727
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4545727
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可