Parameter tuning technique for a model-free vibration control system based on a virtual controlled object

Abstract

A parameter tuning technique without manual trial-and-error procedures is proposed for a controller in a model-free vibration control system based on a virtual controlled object (VCO), which is defined as a single-degree-of-freedom (SDOF) system. The model-free control system is constructed by inserting a VCO between the actuator and the actual controlled object. A reference controlled object (RCO), which is also expressed as an SDOF system, is defined for the configured model-free control system. Then the loss function, which is calculated using the RCO vibration control simulation results, is used to evaluate the vibration suppression performance. The simultaneous perturbation stochastic approximation (SPSA) adjusts the controller tuning parameters to minimize the loss function. The SPSA- and RCO-based tuning procedures automatically tune the model-free controller without manual trial-and-error procedures. Simulations and experiments demonstrate that a model-free linear quadratic regulator designed by the proposed approach provides sufficient vibration reduction.