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language
jpn
Title Transcription
アクティブ キュウシンキ ツキ イドウ ロボット ニヨル エキタイ タンク ノ セイシン セイギョ : エキメン シンドウ ノ ギャク モデル オ リヨウ シタ セイシンホウ
Title Alternative (English)
Damping Control of Liquid Container by Swing-Type Active Vibration Reducer on Mobile Robot : Damping Control Method by Using Inverse Model of Sloshing
Author
Taniguchi, Takao
Description
This paper proposes a damping control of sloshing in a cylindrical container with a swing-type active vibration reducer on a wheeled mobile robot (WMR). The WMR runs along a straight path on a horizontal plane. The container is mounted on the active vibration reducer. A laser displacement sensor is used to observe the liquid level in the container. The container can be tilted in the running direction by the active vibration reducer. A sloshing model is obtained from a 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.
Subject
damping control
sloshing
wheeled mobile robot
active vibration reducer
Journal Title
計測自動制御学会論文集
Volume
47
Issue
8
Start Page
346
End Page
351
ISSN
04534654
Published Date
2011
DOI
NCID
AN00072392
Publisher
公益社団法人計測自動制御学会
Publisher Aalternative
The Society of Instrument and Control Engineers
NII Type
Journal Article
Resource URL(IsVersionOf)
https://www.jstage.jst.go.jp/article/sicetr/47/8/47_8_346/_article
Rights
公益社団法人計測自動制御学会
Gyoseki ID
e28252
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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