液体容器の液位の振動抑制制御の研究 : 第2報, 容器の回転モーメントを考慮した液体搬送時の液位振動制御

概要

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This paper describes an active control method to suppress liquid vibration while transferring a container. We propose a basic model of a mobile robot for the transportation of liquid using a container. This model considers the rotational motion of the liquid in a container in a case in which the liquid is accelerated horizontally. The model is a linearized lumped model with two degress of freedom, such as one rotation and one directional transferring metion. Based on this basic model, we propose the application of the optimal control mothod. The efficiency of this control method for suppressing the liquid vibration in a container is shown by simulation and experiment in comparison with the other control methods in this paper.
社団法人日本機械学会の論文
1990-12-25