池田 篤俊 (イケダ アツトシ)
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Fictitious Reference Iterative Tuning (FRIT) have been reported for many applications, in which the control gain can be optimized so that the closed loop system corresponds with the reference model based on only one experiment data. However, when the reference model is not appropriate, there is a problem that not only the control performance is deteriorated but also the control system may become unstable. Instead of using model matching to the closed-loop reference model, we thought that this problem could be solved by optimizing the settling time and overshoot. To measure settling time and overshoot, the time response is required. The time response can be predicted using Kaneko's method [Takahashi, 2019], but this method requires the order of the closed loop transfer function. In this paper, the method [Takahashi, 2019] is reconsidered as a frequency response based method so that the order is not required. Furthermore, as another approach of FRIT, this paper proposes a method called 'Virtual Time-response based Iterative Gain Evaluation and Redesign' (V-Tiger) which iterates to measure the overshoot and settling time from the virtual time responses, and to evaluate and redesign the controller gain.
大気・海洋間運動量の正確な計測・評価は,気候変動の予測などに必要な基礎技術の1つである.海面応力の計算には,洋上での高精度な風速計測が必要であるが,風速計の動揺が計測精度に与える影響は十分に評価されていない.本研究では,複数のIMUセンサを風速計に取り付けて高精度な動揺補正を行う手法を提案し,数値シミュレーションとロボットアームを用いた室内実験にて動揺補正効果の定量的な評価を行う.提案手法では,洋上での風速計の瞬間的な運動を任意球面上の運動であると仮定し,IMUセンサ特有の問題である計測誤差の蓄積の影響を減少させる.また,2つのIMUセンサを用いて計測値を統合することで計測誤差の影響を減少させる.無風状態の室内にて実験を行い,提案手法によって動揺の影響が風速計の公称精度以内に収まることを示す.