ステッピングモータ駆動平行2輪車の操舵特性と物体の協調搬送

概要

論文の詳細を見る
A control scheme of cooperative object transportation on a 2-D plane with two parallel biwheel vehicles(PBVs), whose wheels are driven with stepping motors individually, is described. The posture of each PBV is stabilized with a discrete time sliding mode regime and the reaction force from the transporting object is regulated with a fuzzy logic controller to hold the object between PBVs. As the forward side PBV runs along a reference pass, the backward side PBV is controlled so as to follow the forward one with an appropriate velocity and curvature which are estimated from the reaction force deviation and difference. With a smooth "S"-bent reference pass of 1.2m in pass length and of 2.5m^<-1> in maximum curvature, the PBVs can transport a block of 50g in weight successfully with the proposed control scheme. The steering characteristics of the PBV are also discussed, where an open loop control method shows excellent steering performance for both spin and pivot turns. These results are brought from the inherent control characteristic of the stepping motor.
一般社団法人日本機械学会の論文
2000-06-25