回転自由な物体をもつ振り子の姿勢と動揺の同時制御

概要

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This paper describes simultaneous control of attitude and swing of a pendulum having a rotational free body which is a simple lifting load model using two inertia rotors. Rotor torques controlling the free body's rotational attitude and the pendulum's swing are obtained by the computed torque method which is based from linear feedback accelerations of sliding mode control and the coupling characteristics of system's dynamics. Simultaneous control of attitude and swing is clarified to be possible from the experiments of position and sin trajectory following attitude controls under swing disturbance. But, from the experiments, simultaneous control cannot be performed in the case of large swing disturbance due to the motor's angular velocity saturation of the attitude inertia rotor. To avoid the velocity saturation, increasing moment of inertia or using high rotational motor are considered and these are related with estimating value of swing disturbance.
一般社団法人日本機械学会の論文
1998-12-25