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language |
jpn
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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
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Title Alternative (English) | 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
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Author |
Yoshida, Yu
Taniguchi, Takao
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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.
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Subject | Vibration Control
Liquid Sloshing
Moving robot
Maximum Amplitude
Constraint Condition
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Journal Title |
日本機械学会論文集. C編
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Volume | 75
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Issue | 758
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Start Page | 2650
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End Page | 2658
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ISSN | 03875024
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Published Date | 2009-10
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NCID | AN00187463
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Publisher | 一般社団法人日本機械学会
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Publisher Aalternative | The Japan Society of Mechanical Engineers
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NII Type |
Journal Article
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Format |
PDF
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Resource URL(IsVersionOf) | http://ci.nii.ac.jp/naid/110007387088
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Rights | 一般社団法人日本機械学会
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Text Version |
著者版
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Gyoseki ID | e28226
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OAI-PMH Set |
Interdisciplinary Graduate School of Science and Engineering
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