MODELING AND VIBRATION CONTROL OF AERIAL VEHICLES FOR ROBOTIZED LIVE-LINE MAINTENANCE WORK

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概要

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• In this paper modeling and vibration control problems are studied for aerial vehicles for the live-line maintenance work. In contrast with the bending stiffness of the boom. the mass of bucket is very heavy therefore bucket vibrations are caused by the change of the derricking angle or the rotation angle. Equation of motion for vibration suppression of aerial vehicle is derived in the case of simultaneous actions of derricking and rotation. Furthermore a velocity feedback control scheme is proposed based on the idea that the bucket vibration suppression is realized by increasing the damping ratios of the 1^<st> and 2^<nd> vibration modes. Here the bucket velocity is obtained from its acceleration signals. while actuators are small plungers attached to the derricking cylinder and the hydraulic motor for rotation. Simulation results illustrate the control performance and the closed-loop system stability of the proposed scheme.

• 一般社団法人日本機械学会の論文

著者

• Kimura Masaharu

  Graduate School Of Engineering Tokushima University

• LAN Lin

  Graduate school of Engineering, Tokushima Univrsity

• KONISHI Katsunobu

  Department of Mechanical Engineering, Tokushima University

• Lan Lin

  Graduate School Of Engineering Tokushima Univrsity

• Konishi Katsunobu

  Department Of Mechanical Engineering Tokushima University

関連論文

• MODELING AND VIBRATION CONTROL OF AERIAL VEHICLES FOR ROBOTIZED LIVE-LINE MAINTENANCE WORK

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