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安定度調整可能な最適Reduced Order Observerの設計法
https://jaxa.repo.nii.ac.jp/records/44629
https://jaxa.repo.nii.ac.jp/records/44629daa6a63a-7824-448b-9cf9-d7c75d81e90d
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
naltr00381.pdf (2.2 MB)
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| Item type | テクニカルレポート / Technical Report(1) | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2015-03-26 | |||||||||
| タイトル | ||||||||||
| タイトル | 安定度調整可能な最適Reduced Order Observerの設計法 | |||||||||
| 言語 | ||||||||||
| 言語 | jpn | |||||||||
| 資源タイプ | ||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_18gh | |||||||||
| 資源タイプ | technical report | |||||||||
| その他のタイトル（英） | ||||||||||
| その他のタイトル | A Design Method of Optimal Reduced Order Observer with Adjustable Stability | |||||||||
| 著者 |
川幡, 長勝
× 川幡, 長勝
× KAWAHATA, Nagakatsu
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| 著者所属 | ||||||||||
| 航空宇宙技術研究所新型航空機研究グループ | ||||||||||
| 著者所属（英） | ||||||||||
| en | ||||||||||
| V/STOL Aircraft Research Group, National Aerospace Laboratory(NAL) | ||||||||||
| 出版者 | ||||||||||
| 出版者 | 航空宇宙技術研究所 | |||||||||
| 出版者（英） | ||||||||||
| 出版者 | National Aerospace Laboratory(NAL) | |||||||||
| 書誌情報 |
航空宇宙技術研究所報告 en : Technical Report of National Aerospace Laboratory TR-381 巻 381, p. 24, 発行日 1974-08 |
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| 抄録（英） | ||||||||||
| 内容記述タイプ | Other | |||||||||
| 内容記述 | In the standard observer theory, a lot of design parameters of observer is left open for system designer’s selection, so that he may be able to assign the observer an arbitary set of observer poles. It is, however, not so easy for the designer to specify all the observer poles, especially when the dimension of observer is large. Considered is a design method of observer that is used for implementing linear-quadratic optimal control systems. It is well known that the state estimation error due to an observer in the feedback channel generally incurs an increase of quadratic cost function compared to the case of complete state feedback loop. Rom ＆ Sarachik attempted to design an optimal reduced order observer so as to minimize the cost increase. They started with the observability canonical form of plant dynamics to find a minimal set of independent observer design parameters. The first objective of this paper is to show that a constructive way of deriving the observer as in Kwakernaak ＆ Sivan’s book easily provides a minimal set of independent observer design parameters without transforming the plant dynamics to an observability canonical form. Then, provided is a method of design for an optimal reduced order observer to minimize the cost increase with respect to so identified minimal set of independent observer design parameters. The resulting optimal observer would be the same as that obtained by Rom ＆ Sarachik’s approach. The optimal reduced order observer obtained by the method either of this paper or of the Rom ＆ Sarachik’s may have a strong plant-observer dynamic coupling because of the so-called Separation Theorem. Hence, the resulting closed loop system dynamics might largely differ from the dynamics of optimal system with the complete state feedback(the system to be implemented). The main objective of this paper is to let the optimal reduced order observer have a guaranteed stability so that the dynamics of the optimal system to be implemented is not altered by the insertion of the observer in the feed-back channel. A newly introduced scalar prameter β to adjust the observer stability plays the role of trade-off between the minimum cost increase and the essential bandwidth of the observer. Every other observer design parameter can be determined as a function of the scalar parameter β. It is practically not so difficult to determine a single scalar parameter β. | |||||||||
| ISSN | ||||||||||
| 収録物識別子タイプ | ISSN | |||||||||
| 収録物識別子 | 0389-4010 | |||||||||
| 資料番号 | ||||||||||
| 内容記述タイプ | Other | |||||||||
| 内容記述 | 資料番号: NALTR0381000 | |||||||||
| レポート番号 | ||||||||||
| 内容記述タイプ | Other | |||||||||
| 内容記述 | レポート番号: NAL TR-381 | |||||||||
