高所作業車のモデリングと振動制御に関する研究 : 第2報, 起伏と旋回を同時に考慮した場合

概要

論文の詳細を見る
This paper deals with the modeling and vibration control of aerial vehicles for the live-line maintenance work. Since the mass of bucket is very heavy in comparison with the bending stiffness of the boom, bucket vibrations are caused by the quick change of the derricking angle or the rotation angle. First, the equation of motion for the aerial vehicle is derived for the simultaneous actions of derricking and rotation by using a sufficient number of variables. Then, a velocity feedback control scheme is derived based on the idea that the bucket vibration is suppresed by increasing the damping ratios of the 1st and 2nd vibration modes, where the bucket velocity is estimated using its acceleration signal, and actuators are small plangers attached to the derricking cylinder and the hydraulic motor. Simulation results illustrate the control performance and the closed-loop stability of the proposed scheme.
2000-06-25