number of downloads : ?
File
language
jpn
Title Transcription
2ジク カイテンシキ アクティブ キュウシンキ ツキ ハンソウシャ ニヨル エキタイ タンク ノ セイシン セイギョ : フクザツ ナ ハンソウ ケイロ ニ タイオウ シタ セイシン ケイロ セッケイ ト エキメン サイダイ シンプク ノ セイヤク ジョウケン ドウニュウ
Title Alternative
Damping Control of Liquid Container on a Carrier with Dual Swing-Type Active Vibration Reducer : Damping Path Planning for Multiple Turns and Introduction of Constraint Condition on Maximum Amplitude of Liquid Sloshing
Author
Yoshida, Yu
Taniguchi, Takao
Description
This paper presents a damping transfer control of a liquid container on a wheeled mobile robot with a dual swing-type active vibration reducer. An optimal servo control with a Kalman filter is adopted as a damping control of liquid sloshing using the vibration reducer. Damping path that has multiple turns of the mobile robot are designed by use of an input shaping method. Maximum amplitudes of liquid sloshing are considered as the constraint condition. The transfer velocity of the robot to satisfy the constraint condition is decided by means of a bisection method through transfer control simulations. The usefulness of the proposed method has been confirmed through simulation and experiment.
Subject
Vibration Control
Liquid Sloshing
Moving robot
Maximum Amplitude
Constraint Condition
Journal Title
日本機械学会論文集. C編
Volume
75
Issue
758
Start Page
2650
End Page
2658
ISSN
03875024
Published Date
2009-10
NCID
AN00187463
Publisher
一般社団法人日本機械学会
Publisher Aalternative
The Japan Society of Mechanical Engineers
NII Type
Journal Article
Format
PDF
Resource URL(IsVersionOf)
http://ci.nii.ac.jp/naid/110007387088
Rights
一般社団法人日本機械学会
Text Version
著者版
Gyoseki ID
e28226
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
このエントリーをはてなブックマークに追加