| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device for inhibiting the hunting of a control input or a control output while maintaining the continuity of control during resetting open control into sliding mode control. SOLUTION: In an open control period for setting a control input given to an operation part as an optional input U<SB>op</SB>, a parameter Z and a parameter R shown in expressions U<SB>eq</SB>=-(SB<SB>e</SB>)<SP>-1</SP>(SA<SB>e</SB>X<SB>e</SB>+SE<SB>e</SB>R) and U<SB>nl</SB>=-(SB<SB>e</SB>)<SP>-1</SP>äkσ(¾¾σ¾¾+η)<SP>-1</SP>}, in which a sliding mode controller operates and to which it refers, are converted into values shown in expressions Z=-S<SB>1</SB><SP>-1</SP>S<SB>2</SB>X and R=-(SE<SB>e</SB>)<SP>-1</SP>SB<SB>e</SB>ä(SB<SB>e</SB>)<SP>-1</SP>SA<SB>e</SB>X<SB>e</SB>+U<SB>op</SB>}, respectively. This results in a conversion functionσ=0, a nonlinear input term U<SB>nl</SB>=0 and a linear input term U<SB>eq</SB>=U<SB>op</SB>, and an optional input U<SB>op</SB>can be output as a control input U from the sliding mode controller. Thus, the hunting of a control input or a control output is prevented while maintaining the continuity of control during resetting open control into sliding mode control. Here, ¾¾ is a norm which is a symbol indicating the length of a geometric vector. COPYRIGHT: (C)2011,JPO&INPIT |
