ソフトウエア・カム曲線によって駆動されるスライダ・振子型ローダアームの振動制御

概要

論文の詳細を見る
This paper describes the control methods, computer simulation and experimental results on the vibration control of the loader arm which is composed of a horizontal slider and a pendulum-type arm suspended from it. In order to achieve high-speed driving and accurate positioning of the loader arm without residual vibration, one of the software-cam curves, termed the "modified sine curve", was applied to drive the loader. The cam curve was described numerically on a personal computer. three control methods together with high-gain feed back control are proposed, in which the path and velocity of the slider and the swing angle of the arm are controlled according to the prescribed software curves. Experimental results show that driving of the loader with such a software curve and control of it under the limitation of the maximum swing angle of the arm are very effective for rejection of residual vibration and accurate positioning of the loader.
一般社団法人日本機械学会の論文
1989-07-25