Momentum control apparatus
The momentum control apparatus includes: an optimal feedback gain obtaining part for obtaining a plurality of optimal feedback gains used when each of the plurality of actuators is independently actuated to feedback control the momentum of the controlled object; and a feedback gain setting part for extracting a minimum feedback gain out of the plurality of optimal feedback gains obtained by the optimal feedback gain obtaining part as a feedback gain of a control system.
1. A momentum control apparatus for feedback-controlling the momentum of a controlled object by using a plurality of actuators, comprising:
a target momentum obtaining part that obtains a target momentum of the controlled object;
an optimal feedback gain obtaining part that obtains a plurality of optimal feedback gains used when each of the plurality of actuators is independently actuated to feedback-control the momentum of the controlled object, with respect to each of actuators;
a feedback gain setting part that extracts a minimum feedback gain out of the plurality of optimal feedback gains obtained by the optimal feedback gain obtaining part, and sets the minimum feedback gain as a feedback gain;
a control amount calculation part that calculates a feedback control amount on the basis of the minimum feedback gain extracted and set as the feedback gain by the feedback gain setting part and a deviation between the target momentum and the current momentum of the controlled object; and
an actuator control part that controls the actuation of the plurality of actuators on the basis of the feedback control amount.
2. The momentum control apparatus according to claim 1 ,
wherein the optimal feedback gain obtaining part obtains the optimal feedback gains which change according to the motion state of the controlled object, a disturbance, and the actuation states of the plurality of actuators.
3. The momentum control apparatus according to claim 1 ,
further comprising a gain table storage part that previously stores a gain table representing a relation between at least one of the motion state of the controlled object, the disturbance, and the actuation states of the plurality of actuators, and the optimal feedback gains of the plurality of actuators,
wherein the optimal feedback gain obtaining part obtains the optimal feedback gains on the basis of at least one of the motion state of the controlled object, the disturbance, and the actuation states of the plurality of actuators by referencing the gain table stored in the gain table storage part.
4. The momentum control apparatus according to claim 1 ,
wherein the controlled object is a moving vehicle; and the momentum is a yaw rate of the vehicle.
5. The momentum control apparatus according to claims 1 ,
wherein the plurality of actuators include a front steering actuator actuated to turn the front wheels of the vehicle, a rear steering actuator actuated to turn the rear wheels of the vehicle, and a DYC actuator actuated to impart a braking force or a driving force to the wheels.