座位におけるバランス保持フィードバック機構のシステム同定

System identification of the sitting balance maintenance feedback mechanism
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Yukihiro OGISAWA, Graduate School of Akita University
Kazuhiko HIRAMOTO, Akita University
Takehiro IWAMI, Akita University
Kazuto MIYAWAKI, Akita NCT
Satoru KIZAWA, Akita NCT
Toshiki MATSUNAGA , Akita University
Yoichi SHIMADA, Akita University
1.
,
.
,
,
,
.
,
,
2
3
,
.
2
.
2
Fig.1
3
PID
3.
2 link model
G (s )
,
u (s )
y (s )
,
R (s) (0°),
y (s )
R (s) (0)
e(s )
,
,
.
.
2.
(2)
1
.
,
(1)
3
,
2
.
2,
.
••
ML23 = I1θ1 + F( y1 − y0 ) + f L23( yL23 − y1) + N(x1 − x0 )
(1)
+ nL23(xL23 − x1)
, N
F
,
n
,
,
,
x
block diagram
1
D 1
u(t ) = k e (t ) + k e& (t ) + k P2e2 (t ) + k D2 e&2 (t )
(2)
+ k P3 e3 (t ) + k D3 e&3 (t )
m
, L 23
u (t )
,I
,
, M
,
Fig.2
1
P 1
y
,
θ
,1,2
, f
0
,
.
e 3 (t )
,
e 2 (t )
2
e1 (t )
2
3
,
3
.
4.
Table1
The result of each identification tolerance
4.1
e1
2
21.4329
3
1
.
3
.
fig3
.
,
e1
4
.
the experimental value and estimated value of
fig4
the experimental value and estimated value of
joint torque
3
6.3882
e1
.
6.1104
8.1187
e3
,
,
e3
e2
joint torque (no
e1 , e2 , e3
,
4
,
e1 )
,
.
.
,
,
,
2
( e1 )
3
.
5.
.
,
2
.
4.2
.
.
.
,
.
[PD
,
1
e1
u (t ) = k
[PD
,
e 2 (t ) + k
.
2
D
e2
,
e2 + k
•
3
P
e 3 (t ) + k
3
D
[PD
,
e3
(3)
e3
.
]
6.
•
u ( t ) = k P1 e 1 ( t ) + k
3
]
•
2
P
1
D
e 1 ( t ) + k P3 e 3 ( t ) + k
•
3
D
e3
(4)
]
•
,
[1]
[2]
•
u ( t ) = k P1 e 1 ( t ) + k D1 e 1 ( t ) + k P2 e 2 ( t ) + k D2 e 2
(5)
[3]
LMI
2

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