ステッピングモータ駆動平行2輪車の反力制御と物体の協調搬送

概要

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Reaction force control of a parallel biwheen vehicle (PBV), which is driven with two stepping motors in an open loop mode, is described on purpose to hold and/or to transport objects with it. The PBV is an inverted pendulum type unstable vehicle, hence its posture has been regulated by a discrete time sliding mode controller. The reaction force is generated by contacting and leaning the PBV toward objects and the magnitude of the reaction force is controlled with a fuzzy logic controller. Nonlinear control output of the fuzzy logic controller is suitable for achieving a quick and calm force response at the same time. For a square wave force reference up to 1N, the reaction force of the PBV can quickly follow the reference signal without remarkable overshoot and the PBV can keep steady reaction force. The control performance is discussed in detail and is compared with that of PI force control. As an application, cooperative object support and transportation with PBVs are also demonstrated.
一般社団法人日本機械学会の論文
1999-04-25