コンクリート圧送用多関節柔軟アームの振動抑制 : 第2報, 実機への適用

概要

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The 1st report of this subject modeled a flexible concrete distributor arm as a multi-link flexible arm and a DVFB control of the 1st joint was shown to be effective for suppressing the vibration of the arm of an experimental hardware system. The present paper illustrates a difference between the experimental hardware system and an actual concrete distributor arm. It is shown that the control law which was suitable for the experimental system is not directly applicable to the actual system due to nonlinear frictions existing in the joints and actuator dynamics. The DVFB control law is modified by considering equivalent damping torques corresponding to the actual frictions including Coulomb friction, etc. In order to design a control law of the distributor system, a numerical simulator incorporating such nonlinear elements is further developed by using MATLAB/ SIMULINK. The simulator enables us to design a control system taking account of the nonlinearity in the system. The designed control system is successfully applied to the vibration suppression of the actual concrete distributor arm.
一般社団法人日本機械学会の論文
1999-04-25