164 柔軟搬送システムの運動と振動の制御

概要

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This paper deals with transversal motion and vibration control for a flexible tower-like transportation system taking account of elevator to lift payloads vertically. Applying a lumped modeling method presented by Seto and LQI-based control system, two controllers which achieve good performance are designed. As well, this research investigates problems which may occur in actual transportation systems through control experiments. The purpose of this research is to control motion and vibration under moving flexible transportation systems. It is demonstrated that this transport system moves without vibration from one side to another at a high speed, and that the multimode-vibration of the flexible structure are controlled without spillover caused by neglected higher modes.
一般社団法人日本機械学会の論文
2003-09-15