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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 エキメン シンドウ ノ ギャク モデル オ リヨウ シタ エキタイ タンク ノ セイシン セイギョ
Title Alternative (English)
Damping Control of Liquid Container with Swing-Type Active Vibration Reducer on Mobile Robot by Using Inverse Model of Sloshing
Author
Taniguchi, Takao
Description
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.
Subject
Vibration Control
Sloshing
Moving Robot
Intelligent Equipment
Actuator
Automation
Journal Title
日本機械学会論文集. C編
Volume
78
Issue
790
Start Page
2203
End Page
2217
ISSN
03875024
Published Date
2012-06
DOI
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)
https://www.jstage.jst.go.jp/article/kikaic/78/790/78_2203/_article/-char/ja/
Rights
一般社団法人日本機械学会
Gyoseki ID
e28227
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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