Adaptive Impact Shot Control by Pendulum-like Juggling System(<Special Issue>Advances in Motion and Vibration Control Technology)
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概要
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In this paper, a dynamic impact control is proposed. To deal with an impact phenomenon and to establish the control method, a pendulum-like impact shot system is devised. In this system, a slider strikes a ball suspended by a wire, and the energy of the ball is controlled via impact force from the slider. In order to transmit the energy adequately, it is necessary for a slider to reach the target position with specified velocity just at the moment of collision. The reference trajectory for a slider is generated and adjusted in real time, and the proposed variable structure (VS) servo control enables chattering-free precise tracking to the reference trajectory. Additionally, by combining an adaptive VS-differentiator, the performance of the VS-servo control is enhanced. The effectiveness of the proposed impact control, the VS-servo control and the adaptive VS-differentiator is verified by simulation and experiment.
- 2003-09-15
著者
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SUZUKI Satoshi
Frontier R & D Center, Tokyo Denki University (TDU)
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FURUTA Katsuhisa
Department of Computer and System Engineering, TDU
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SHIRATORI Shinya
Department of Computer and System Engineering, TDU
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Furuta Katsuhisa
Department Of Computer And System Engineering Tdu
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Shiratori Shinya
Department Of Computer And System Engineering Tdu
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Suzuki Satoshi
School Of Science And Technology For Future Life Department Of Robots And Mechatronics Tokyo Denki U
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Suzuki Satoshi
Frontier R & D Center Tokyo Denki University (tdu)
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Suzuki S
Frontier R & D Center Tokyo Denki University (tdu)
関連論文
- Adaptive Impact Shot Control by Pendulum-like Juggling System(Advances in Motion and Vibration Control Technology)
- ADAPTIVE IMPACT SHOT CONTROL BY PENDULUM-LIKE JUGGLING SYSTEM
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