Design example with evaluation of control input u
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開始行:
[[制御工学特論]]
Mixed sensitivity problem is modified to evaluate control...
#ref(HPF_u.png)
Moreover, WT(s) is set to improper for over estimation of...
#ref(nominal_fixed.m)
#ref(weight.m)
#ref(cont_fixed.m)
Execution:
>> nominal_fixed
>> weight
>> cont_fixed
- Comparison the designed result with the base design
Suppose two design results are stored in folders `base' a...
The following m-file load the designed and experimental r...
#ref(compare_fixed.m)
#ref(realfft.m)
Execution:
>> compare_fixed
For realfft.m see [[FFTの使い方]].
The following figure shows bode diagram of discretized co...
#ref(compare_Kd.png)
Lower gain characteristic is obtained in high frequency r...
The following figure shows gain characteristic of sensiti...
#ref(compare_S.png)
In the high frequency range above 200Hz, amplification of...
The following figure shows time response of motor speed.
#ref(compare_y.png)
As expected above, base design seems to have better perfo...
This problem is confirmed by FFT analysis. The following ...
#ref(compare_y_fft.png)
There are large peaks at around 100 Hz and 200 Hz, and pe...
These peaks might be occured by nature of discretized con...
This problem is also shown in control input. The followin...
#ref(compare_u.png)
The base design controller generates larger amplitude of ...
This does not imply that base design controller is worse,...
However, FFT analysis reveals that this result for base d...
The following figure shows the FFT analysis result of con...
#ref(compare_u_fft.png)
The control input for base design controller has remarkab...
終了行:
[[制御工学特論]]
Mixed sensitivity problem is modified to evaluate control...
#ref(HPF_u.png)
Moreover, WT(s) is set to improper for over estimation of...
#ref(nominal_fixed.m)
#ref(weight.m)
#ref(cont_fixed.m)
Execution:
>> nominal_fixed
>> weight
>> cont_fixed
- Comparison the designed result with the base design
Suppose two design results are stored in folders `base' a...
The following m-file load the designed and experimental r...
#ref(compare_fixed.m)
#ref(realfft.m)
Execution:
>> compare_fixed
For realfft.m see [[FFTの使い方]].
The following figure shows bode diagram of discretized co...
#ref(compare_Kd.png)
Lower gain characteristic is obtained in high frequency r...
The following figure shows gain characteristic of sensiti...
#ref(compare_S.png)
In the high frequency range above 200Hz, amplification of...
The following figure shows time response of motor speed.
#ref(compare_y.png)
As expected above, base design seems to have better perfo...
This problem is confirmed by FFT analysis. The following ...
#ref(compare_y_fft.png)
There are large peaks at around 100 Hz and 200 Hz, and pe...
These peaks might be occured by nature of discretized con...
This problem is also shown in control input. The followin...
#ref(compare_u.png)
The base design controller generates larger amplitude of ...
This does not imply that base design controller is worse,...
However, FFT analysis reveals that this result for base d...
The following figure shows the FFT analysis result of con...
#ref(compare_u_fft.png)
The control input for base design controller has remarkab...
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