アクティブ吸振器付き移動ロボットによる液面振動の逆モデルを利用した液体タンクの制振制御

This paper proposes a damping control of sloshing in a cylindrical container with a dual swing-type active vibration reducer on a wheeled mobile robot (WMR). The WMR runs along a straight and curved path on a horizontal plane and a straight path on a slope. The container is mounted on the active vibration reducer. Two laser displacement sensors are used to observe the liquid level at the back measuring point and the right side one. The container can be independently tilted in the running direction and the orthogonal direction by the active vibration reducer. A sloshing model is obtained from the spherical pendulum-type sloshing model, which approximately expresses (1, 1)-mode sloshing. The sloshing model is used to design a damping control system. The control system of the active vibration reducer is designed with an inverse model of sloshing and an optimal regulator with a Kalman filter. The WMR is driven by an acceleration pattern designed with an input shaping method. The usefulness of the proposed method is demonstrated through simulation and experimental results.