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ファイル
言語
日本語
タイトルヨミ
パラレル リンクガタ アクティブ キュウシンキ ツキ ハンソウ ダイシャ ニヨル エキタイ タンク ノ セイシン ハンソウ セイギョ : コウジ モード スロッシング オ レイキ サセナイ セイシン セイギョ
日本語以外のタイトル
Damping control of sloshing in liquid container on cart with active vibration reducer having parallel linkage : Damping control without excitation of higher-mode sloshing
著者
福田 昌弘
谷口 隆雄
内容記述(抄録等)
This paper presents a control system to damp sloshing in a liquid container during its transfer in a cart equipped with an active vibration reducer having a parallel linkage with six degrees of freedom. Sloshing is generated during the liquid container’s transfer. To damp this sloshing, the active vibration reducer tilts and horizontally moves the container. The reducer is controlled by a reference following control and optimal servo control. When a large liquid container is used, higher-mode sloshing that is not modeled in the control system is easily generated and causes spillover. The reference following control was adopted to avoid this phenomenon. The weighting matrix of the quadratic performance index for the optimal servo control is optimized with a genetic algorithm (GA). The amplitude of sloshing is considered for GA fitness. In this study, a cart was driven along a straight path on a horizontal plane, and only (1, 1) mode sloshing was modeled in the control system. When the optimal servo control was used alone in a damping control experiment, the active vibration reducer and liquid container vibrated violently because of spillover. On the other hand, when the optimal servo control and reference following control were used together, the liquid container did not vibrate, and sloshing in the container was damped by the active vibration reducer.
主題
Sloshing
Damping control
Parallel linkage
Optimal servo
Reference model following
掲載誌名
日本機械学会論文集
81
822
開始ページ
14_00470_1
終了ページ
14_00470_13
発行日
2015-02
DOI
出版者
一般社団法人日本機械学会
出版者別表記
The Japan Society of Mechanical Engineers
資料タイプ
学術雑誌論文
関連情報URL(IsVersionOf)
https://www.jstage.jst.go.jp/article/transjsme/81/822/81_14-00470/_article/-char/ja/
権利関係
一般社団法人日本機械学会
業績ID
e28225
部局
(旧組織)大学院総合理工学研究科
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