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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
Title Alternative (English)
Damping Control of Liquid Container on a Carrier with Dual Swing-Type Active Vibration Reducer
Author
Yoshida, Yu
Taniguchi, Takao
Description
This paper presents a damping control of a liquid container with an active vibration reducer on a wheeled mobile robot. The active vibration reducer independently tilts the liquid container to running direction and transverse direction. The optimal servo control system is adopted as a damping control of liquid sloshing with the vibration reducer. A Kalman-filter is used to estimate states and remove noise of sensors. An input shaping method is applied to design damping paths of mobile robots. The damping performance is more improved by using the vibration reducer together with the damping path design. The usefulness of the proposed method is demonstrated through simulation and experimental results.
Subject
Damping
Liquid sloshing
Vibration Reducer
Acceleration Design
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
DOI
DOI Date
2015-12-05
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
Rights
一般社団法人日本機械学会
Text Version
著者版
Gyoseki ID
e28233
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering